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基于状态变换多状态约束卡尔曼滤波的视觉/惯性组合导航 被引量:4
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作者 王茂松 赵启超 +1 位作者 吴文启 杜学禹 《中国惯性技术学报》 EI CSCD 北大核心 2021年第2期199-207,共9页
为了进一步提高视觉/惯性导航精度,提出了一种基于状态变换多状态约束卡尔曼滤波(ST-MSCKF)的视觉/惯性组合导航算法。与标准的多状态约束卡尔曼滤波(MSCKF)相比,ST-MSCKF对速度误差进行了更严格的定义,并以新的非线性速度误差为基础重... 为了进一步提高视觉/惯性导航精度,提出了一种基于状态变换多状态约束卡尔曼滤波(ST-MSCKF)的视觉/惯性组合导航算法。与标准的多状态约束卡尔曼滤波(MSCKF)相比,ST-MSCKF对速度误差进行了更严格的定义,并以新的非线性速度误差为基础重新推导了视觉/惯性组合导航的系统误差模型和量测模型。由于ST-MSCKF比MSCKF具有更好的协方差一致性,从而具有更高的位置和姿态估计精度。与观测性约束MSCKF(OC-MSCKF)解决不一致问题的方法不同,ST-MSCKF不需要实时修正状态转移矩阵和量测矩阵去保持视觉/惯性组合导航系统的可观测性,ST-MSCKF的运算流程与标准的MSCKF完全一致,算法实现容易。车载导航实验表明,ST-MSCKF具有比MSCKF更高的位置和姿态精度,与OC-MSCKF精度相当,具有良好的工程应用价值。 展开更多
关键词 ST-MSCKF 视惯组合导航 非线性速度误差 协方差一致性
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A correction method of color projection fringes in 3D contour measurement 被引量:4
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作者 宋丽梅 李宗艳 +3 位作者 陈昌曼 习江涛 郭庆华 李晓捷 《Optoelectronics Letters》 EI 2015年第4期303-306,共4页
In the three-dimensional(3D) contour measurement,the phase shift profilometry(PSP) method is the most widely used one.However,the measurement speed of PSP is very low because of the multiple projections.In order to im... In the three-dimensional(3D) contour measurement,the phase shift profilometry(PSP) method is the most widely used one.However,the measurement speed of PSP is very low because of the multiple projections.In order to improve the measurement speed,color grating stripes are used for measurement in this paper.During the measurement,only one color sinusoidal fringe is projected on the measured object.Therefore,the measurement speed is greatly improved.Since there is coupling or interference phenomenon between the adjacent color grating stripes,a color correction method is used to improve the measurement results.A method for correcting nonlinear error of measurement system is proposed in this paper,and the sinusoidal property of acquired image after correction is better than that before correction.Experimental results show that with these correction methods,the measurement errors can be reduced.Therefore,it can support a good foundation for the high-precision 3D reconstruction. 展开更多
关键词 correction contour projection grating correcting projected pixel sinusoidal fringe Tianjin
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