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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >Vision-aided Estimation of Attitude, Velocity, and Inertial Measurement Bias for UAV Stabilization
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Vision-aided Estimation of Attitude, Velocity, and Inertial Measurement Bias for UAV Stabilization

机译：用于无人机稳定的姿态，速度和惯性测量偏差的视觉辅助估计

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This paper studies vision-aided inertial navigation of small-scale unmanned aerial vehicles (UAVs) in GPS-denied environments. The objectives of the navigation system are to firstly online estimate and compensate the unknown inertial measurement biases, secondly provide drift-free velocity and attitude estimates which are crucial for UAV stabilization control, and thirdly give relatively accurate position estimation such that the UAV is able to perform at least a short-term navigation when the GPS signal is not available. For the vision system, we do not presume maps or landmarks of the environment. The vision system should be able to work robustly even given low-resolution images (e.g., 160 x120 pixels) of near homogeneous visual features. To achieve these objectives, we propose a novel homography-based vision-aided navigation system that adopts four common sensors: a low-cost inertial measurement unit, a downward-looking monocular camera, a barometer, and a compass. The measurements of the sensors are fused by an extended Kalman filter. Based on both analytical and numerical observability analyses of the navigation system, we theoretically verify that the proposed navigation system is able to achieve the navigation objectives. We also show comprehensive simulation and real flight experimental results to verify the effectiveness and robustness of the proposed navigation system.
机译：本文研究了在GPS受限环境下的小型无人机的视觉辅助惯性导航。导航系统的目标是首先在线估算和补偿未知的惯性测量偏差，其次提供对无人机稳定控制至关重要的无漂移速度和姿态估算，其次提供相对准确的位置估算，从而使无人机能够当GPS信号不可用时，至少执行一次短期导航。对于视觉系统，我们不假定环境的地图或地标。即使给定近似均质视觉特征的低分辨率图像（例如160 x120像素），视觉系统也应能够稳定工作。为了实现这些目标，我们提出了一种新颖的基于单应性的视觉辅助导航系统，该系统采用了四个常见的传感器：低成本惯性测量单元，向下看的单眼相机，气压计和指南针。传感器的测量通过扩展的卡尔曼滤波器进行融合。基于对导航系统的分析和数值可观察性分析，我们从理论上验证了所提出的导航系统能够实现导航目标。我们还显示了全面的模拟和实际飞行实验结果，以验证所提出的导航系统的有效性和鲁棒性。

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