Sensor to sensor calibration of the integrated INS/vision navigation system

Dongfang Yang,Yang Liu,Shouyi Liao,Dawei Sun

doi:10.1177/1729881417707322

Abstract

Due to the essential limitation of optical sensors, its integration with traditional Inertial Navigation System (INS) tends to be the focus in indoor navigation applications. In a low-cost INS/vision integrated navigation system, the relative position and gestures between slave systems are important coefficients. In order to solve the initial bias estimation problems involved in INS/vision integrated system, this article proposes a novel alignment approach based on the time-domain constraints. At first, on the basis of traditional initial alignment model, the time-domain constrained model is deduced, in which the time-related states and measurements are all modeled. In order to verify the advantage of state evaluability, both the traditional alignment model and the corresponding time-domain constrained model are analyzed via the nonlinear observability analysis method. At the end of this article, two groups of numerical simulations are implemented, and the corresponding results validate the effectiveness ...

Highlights

Visual navigation has received a lot of research interest in recent years for a number of reasons
On the basis of this model, we provide an effective solution about this nonlinear optimization problem
We can find that the timedomain constraints are able to improve the estimation accuracy of the initial alignment estimation

Summary

Introduction

Visual navigation has received a lot of research interest in recent years for a number of reasons. From the above judgment matrix, we can find that in the initial alignment process, the motion dynamic of the integrated platform will affect the observability results. We consider this problem in different dynamics. We consider the more rigid situation, where the rotation velocity is zero during the initial alignment process Under this condition, the two involved models are both not full rank. Proved that if the rotation and transition are both included in the system motion, the initial alignment model is observable completely, as described in the study by Kelly and Sukhatme.[18] Compared with Kelly’s work, this article can simplify the initial alignment process by introducing the time-domain-related measurements. This approach takes more advantages in applications that the large range maneuver is inappropriate

Experiments validation

Experiments

Findings

Conclusion