| 引用本文: | 刘哲,史殿习,杨绍武,等.视觉惯性导航系统初始化方法综述.[J].国防科技大学学报,2023,45(2):15-26.[点击复制] |
| LIU Zhe,SHI Dianxi,YANG Shaowu,et al.Review of visual-inertial navigation system initialization method[J].Journal of National University of Defense Technology,2023,45(2):15-26[点击复制] |
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| 视觉惯性导航系统初始化方法综述 |
| 刘哲1,史殿习2,杨绍武1,李睿豪2 |
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(1. 国防科技大学 计算机学院, 湖南 长沙 410073;2. 军事科学院 国防科技创新研究院, 北京 100071)
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| 摘要: |
| 视觉惯性导航系统通过初始化,对尺度信息、重力向量、速度、惯性传感器偏差等一系列状态估计所需参数进行快速求解,以提升系统后续导航定位与环境感知的准确性。根据传感信息耦合方式,视觉惯性导航系统初始化方法可以分为三类:联合初始化、非联合初始化和半联合初始化。基于现有研究工作,从基础理论、发展与分类、现有方法、性能评估四个方面展开,对目前主流的初始化方法进行综述,并总结视觉惯性导航系统初始化领域未来的发展趋势,有利于对视觉惯性导航系统初始化方法形成总体性了解并把握其发展方向。 |
| 关键词: 视觉惯性导航系统 初始化 传感融合 惯性数据处理 |
| DOI：10.11887/j.cn.202302002 |
| 投稿日期：2022-11-01 |
| 基金项目:国家自然科学基金资助项目(91948303,61903377) |
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| Review of visual-inertial navigation system initialization method |
| LIU Zhe1, SHI Dianxi2, YANG Shaowu1, LI Ruihao2 |
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(1. College of Computer Science and Technology, National University of Defense Technology, Changsha 410073, China;2. National Innovation Institute of Defense Technology, Academy of Military Sciences, Beijing 100071, China)
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| Abstract: |
| VINS (visual-inertial navigation systems) solve a series of parameters required for state estimation through initialization, such as scale, gravity vector, velocity, inertial measurement unit′s bias, etc., to improve the accuracy of navigation positioning and environmental perception of the system. The initialization methods of VINS can be divided into three categories according to the sensing information fusing mode:joint initialization, disjoint initialization and semi-joint initialization. Based on the existing research work, the current mainstream initialization methods of VINS were reviewed from four aspects:basic theory, development and classification, existing methods, performance evaluation, and the future development trends were summarized, which is helpful to have a general understanding of VINS initialization methods and grasp its development direction. |
| Keywords: visual-inertial navigation systems initialization sensor fusion inertial measurement processing |
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