大时延视觉/陀螺组合定姿技术

Vision/Gyro Combination Attitude Determination Technique for System with Large Time Delay

针对存在大时延问题的姿态确定系统具有实时性与精度欠佳的问题,提出一种针对单目视觉时延问题进行补偿的组合定姿算法。以气浮台为应用背景,首先,设计了组合姿态测量器件“单目视觉+MEMS陀螺仪”的姿态确定系统用以采集姿态信息;然后,再对单目视觉大时延问题采用陀螺积分对姿态四元数进行补偿,对补偿模型建模并分析单目视觉大时延误差的主要组成;通过扩展卡尔曼滤波器(EKF)实时处理角速度、补偿后的姿态四元数信息,得到气浮台的姿态信息;最后,通过全物理仿真验证姿态确定系统设计的合理性和优势。实验结果表明,该系统设计合理,能够提供高精度的姿态信息,满足气浮台的需求。

To address the issues of poor real-time performance and unsatisfied accuracy in attitude determination systems with large time delay,an algorithm is proposed for compensating the time delay in monocular vision.Taking the air-floating platform as the application background,a combined attitude determination system of“monocular vision+MEMS gyroscope”is designed to acquire the attitude information.The time-delay issue in monocular vision is compensated by integrating the gyroscope to correct the attitude quaternion,and a compensation model is established to analyze the main components of the time-delay error in monocular vision.The Extended Kalman Filter(EKF)is employed to process the angular velocity and the compensated attitude quaternion in real time,thus to obtain the attitude information of the lightweight air floating platform.Finally,the rationality and advantages of the attitude determination system design are validated through physical simulations.The experimental results demonstrate that the system design is reasonable and capable of providing high-precision attitude information,which can meet the requirements of the air-floating platform.