摘要
对于纯视觉或惯导定位,由于运动的随意性和以及单传感器局限性,往往定位精度不理想。随着智能手机性能的提升,通常会配置多种传感器,因此在分析各传感器的基础上,提出基于智能手机多传感器融合的定位方式。基于An-droid智能手机的视觉和惯性传感器采集原始的图像数据、加速度和角速度数据,通过松耦合初始化进行融合,并采用非线性优化的方式推算出瞬时精确位置和姿态。实验结果表明,该方法能够在弱GPS场景获得精确的定位结果。
For pure vision or inertial navigation, due to the randomness of motion and the limitation of single sensor, the location effect is usually diffi- cult to meet the requirement. Therefore, based on the analysis of the two sensors, proposes a positioning method based on multi-sensor fu- sion of smart phones. The original image data, acceleration and angular velocity data are collected by the visual and inertial sensors of the Android smart phone, which are fused by loosely coupled initialization, and the instantaneous precise position and attitude are calculated by nonlinear optimization. Experimental results show that the proposed method can get accurate location results in GPS-denied scenes.
作者
崔思柱
刘丰豪
程石
肖倩
CUI Si-zhu;LIU Feng-hao;CHENG Shi;XIAO Qian(School of Construction Machinery,Chang＇an University,Xi＇an 710064)
出处
《现代计算机》
2018年第17期37-40,共4页
Modern Computer
关键词
传感器
融合
松耦合
非线性优化
Sensor
Fusion
Loose Coupling
Nonlinear Optimization
