Integration of a Multi-Camera Vision System and Strapdown Inertial Navigation System (SDINS) with a Modified Kalman Filter

Sensors

Neda Parnian¹ 

[1] Mechatronic Systems Engineering, School of Engineering Science, Simon Fraser University, 250–13450 102nd Avenue, Surrey, BC V3T 0A3, Canada; E-Mail

关键词: integration of vision system and SDINS;    Extended Kalman Filter;    Indirect Kalman Filter;    strapdown inertial navigation system;    tool positioning;   

DOI  :  10.3390/s100605378

来源: mdpi

【 摘 要 】

This paper describes the development of a modified Kalman filter to integrate a multi-camera vision system and strapdown inertial navigation system (SDINS) for tracking a hand-held moving device for slow or nearly static applications over extended periods of time. In this algorithm, the magnitude of the changes in position and velocity are estimated and then added to the previous estimation of the position and velocity, respectively. The experimental results of the hybrid vision/SDINS design show that the position error of the tool tip in all directions is about one millimeter RMS. The proposed Kalman filter removes the effect of the gravitational force in the state-space model. As a result, the resulting error is eliminated and the resulting position is smoother and ripple-free.

【 授权许可】

CC BY   
© 2010 by the authors; licensee MDPI, Basel, Switzerland.