基于改进时间差分的视觉/惯性组合导航研究

Research on Vision and Inertial Integrated Navigation Based on Improved Time Difference

针对全球导航卫星系统(GNSS,global navigation satellite system)在军事战争、室内和水下等情况下存在因信号缺失导致的全球定位系统(GPS,global positioning system)无法使用和惯性导航系统(INS,inertial navigation system)状态误差发散过快的问题,提出了一种基于连续帧时间差分视觉辅助导航的方法;为了抑制状态误差的快速发散,提高INS在长航时工作上的性能,分析了机器视觉连续帧间差分法,并对其进行了计算上的改进,设计了一种时间差分视觉/惯性组合系统,并进行了仿真实验和分析;结果与纯INS相比,均方根误差(RMSE,root mean square error)在北向位置上减少了19.0%,在东向误差上减少了32.1%,表明该方法有效抑制了纯惯性导航速度和位置的误差发散,延长了惯性导航的可用时间。

Aiming at the problems of unavailability of global positioning system(GPS) and rapid divergence of INS status error due to signal loss in global navigation satellite system(GNSS) under the conditions of military war, indoor and underwater, a visual aid navigation method based on the continuous frame time difference is proposed. In order to restrain the rapid divergence of state error and improve the performance of inertial navigation system(INS) in long endurance work, the continuous frame difference method of machine vision is analyzed and improved in the calculation. A time-difference vision and inertia combined system is designed, the simulation experiments and analysis are completed. The experiments results show that Compared with INS, root mean square error(RMSE) is reduced by 19.0% in the northbound position and 32.1% in the eastbound error, this method effectively inhibits the error divergence of inertial navigation speed and position, and extends the available time of inertial navigation.