Adaptive visual inertial geomagnetic tightly coupled positioning system

被引：0
|
作者：
Fu P. [1 ,2 ]
Wan Z. [3 ]
Wang K. [1 ]
Zhao K. [1 ]
机构：
[1] Department of Precision Instrument, Tsinghua University, Beijing
[2] School of Instrument Science and Optoelectronic Engineering, Beijing Information Science and Technology University, Beijing
[3] Faculty of Mechanical Engineering, Guangxi University, Nanning
来源：
Guangxue Jingmi Gongcheng/Optics and Precision Engineering | 2024年 / 32卷 / 07期
关键词：
adaptive system; geomagnetic field; integrated navigation; nonlinear optimization;
D O I：
10.37188/OPE.20243207.1023
中图分类号：
学科分类号：
摘要：
To solve the problem of missing absolute heading data and attitude drift in the visual-inertial navigation system, and to enhance its positioning accuracy, an adaptive visual-inertial-geomagnetic tightly integrated positioning system was developed for environments with unknown magnetic fields. Initially, the calibration process for the internal and external parameters of standard tri-axis magnetometers is detailed. Following this, a strategy for generating global and frame-to-frame constrained residuals from geomagnetic data is outlined. The system dynamically adjusts fusion weights based on variations in magnetic intensity and employs a nonlinear optimization approach for the visual-inertial-geomagnetic integration to estimate its motion state accurately. Outdoor tests conducted on a university campus demonstrated that the system remains stable amidst magnetic disturbances from buildings and vehicles, achieving positioning accuracy better than 0.8% (RMSE). When compared to VINS, this system reduces position error by an average of 24%, showcasing impressive real-time capabilities. Incorporating magnetometers and adaptive fusion techniques significantly boosts the performance of existing visual-inertial navigation systems, offering reliable real-time positioning for autonomous systems. © 2024 Chinese Academy of Sciences. All rights reserved.
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页码：1023 / 1033
页数：10
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