摘要
Visual inertial odometry(VIO)problems have been extensively investigated in recent years.Existing VIO methods usually consider the localization or navigation issues of robots or autonomous vehicles in relatively small areas.This paper considers the problem of vision-aided inertial navigation(VIN)for aircrafts equipped with a strapdown inertial navigation system(SINS)and a downward-viewing camera.This is different from the traditional VIO problems in a larger working area with more precise inertial sensors.The goal is to utilize visual information to aid SINS to improve the navigation performance.In the multistate constraint Kalman filter(MSCKF)framework,we introduce an anchor frame to construct necessary models and derive corresponding Jacobians to implement a VIN filter to directly update the position in the Earth-centered Earth-fixed(ECEF)frame and the velocity and attitude in the local level frame by feature measurements.Due to its filtering-based property,the proposed method is naturally low computational demanding and is suitable for applications with high real-time requirements.Simulation and real-world data experiments demonstrate that the proposed method can considerably improve the navigation performance relative to the SINS.
基金
supported by the National Natural Science Foundation of China(61773306).
作者简介
ZHOU Ruihu, was born in 1998.He received his B.E.degree in automation from Xi’an Jiaotong University,Xi’an,in 2020.He received his M.E.degree in electronic information from Xi’an Jiaotong University,Xi’an,in 2023.His research interest is all source positioning and navigation.E-mail:zhouruihu@stu.xjtu.edu.cn;TONG Mengqi, was born in 1998.She received her B.E.degree in automation from Xi’an Jiaotong University,Xi’an,in 2020.She is pursuing her M.E.degree in automation science and engineering from Xi’an Jiaotong University.Her research interest is all source positioning and navigation.E-mail:tm1920321091@stu.xjtu.edu.cn;Corresponding author:GAO Yongxin ,was born in 1979.He received his Ph.D.degree in control science and engineering from Xi’an Jiaotong University,Xi’an,China in 2012.He is currently an associate professor with the School of Automation Science and Engineering,Xi’an Jiaotong University.His current research interests include estimation theory,sequential probability ratio test,distributed estimation fusion,target tracking,performance evaluation,and multi-sensor navigation.E-mail:yxgao@xjtu.edu.cn.
