Tightly-coupled robust vision aided inertial navigation algorithm for augmented reality using monocular camera and IMU

2011 ◽  
Author(s):  
Taragay Oskiper ◽  
Supun Samarasekera ◽  
Rakesh Kumar
Keyword(s):  
Augmented Reality ◽  
Inertial Navigation ◽  
Monocular Camera ◽  
Navigation Algorithm ◽  
Tightly Coupled

scholarly journals Tightly Coupled Integrated Navigation Algorithm for Hypersonic Boost-Glide Vehicles in the LCEF Frame

Aerospace ◽  
2021 ◽  
Vol 8 (5) ◽  
pp. 124
Author(s):  
Kai Chen ◽  
Sensen Pei ◽  
Fuqiang Shen ◽  
Shangbo Liu
Keyword(s):  
Inertial Navigation ◽  
State Equation ◽  
Integrated Navigation ◽  
Loosely Coupled ◽  
Navigation Algorithm ◽  
Tightly Coupled ◽  
Measurement Equations ◽  
Range Rate ◽  
Better Than ◽  
Strapdown Inertial Navigation

According to the trajectory characteristics of hypersonic boost-glide vehicles, a tightly coupled integrated navigation algorithm for hypersonic vehicles based on the launch-centered Earth-fixed (LCEF) frame is proposed. First, the strapdown inertial navigation mechanization algorithm and discrete update algorithm in the LCEF frame are introduced. Subsequently, the attitude, velocity, and position error equations of strapdown inertial navigation in the LCEF frame are introduced. The strapdown inertial navigation system/global positioning system (SINS/GPS) pseudo-range and pseudo-range rate measurement equations in the LCEF frame are derived. Further, the tightly coupled SINS/GPS integrated navigation filter state equation and the measurement equation are presented. Finally, the tightly coupled SINS/GPS integrated navigation algorithm is verified in the hardware-in-the-loop (HWIL) simulation environment. The simulation results indicate that the precision of tightly coupled integrated navigation is better than that of loosely coupled integrated navigation. Moreover, even when the number of effective satellites is less than four, tightly coupled integrated navigation functions well, thus verifying the effectiveness and feasibility of the algorithm.

A Fitting Solution

2018 ◽  
Author(s):  
Kaori Kashimura ◽  
Takafumi Kawasaki Jr. ◽  
Nozomi Ikeya ◽  
Dave Randall
Keyword(s):  
Organizational Change ◽  
Power Plant ◽  
Augmented Reality ◽  
Real World ◽  
Work Practices ◽  
Plant Construction ◽  
Tightly Coupled ◽  
Complex Scenario ◽  
The Relationship ◽  
The Way

This chapter provides an ethnography of a complex scenario involving the construction of a power plant and, in so doing, tries to show the importance of a practice-based approach to the problem of technical and organizational change. The chapter reports on fieldwork conducted in a highly complex and tightly coupled environment: power plant construction. The ethnography describes work practices on three different sites and describes and analyses their interlocking dependencies, showing the difficulties encountered at each location and the way in which the delays that result cascade through the different sites. It goes on to describe some technological solutions that are associated with augmented reality and that are being designed in response to the insights gained from the fieldwork. The chapter also reflects more generally on the relationship between fieldwork and design in real-world contexts.

Sensor Fusion Based on Strong Tracking Filter for Augmented Reality Registration

2011 ◽  
Vol 467-469 ◽  
pp. 108-113
Author(s):  
Xin Yu Li ◽  
Dong Yi Chen
Keyword(s):  
Augmented Reality ◽  
Inertial Sensor ◽  
Measurement Data ◽  
Sensor Data ◽  
Data Synchronization ◽  
Error Covariance ◽  
Tightly Coupled ◽  
Strong Tracking Filter ◽  
Fading Factor ◽  
Tracking Filter

Accurate tracking for Augmented Reality applications is a challenging task. Multi-sensors hybrid tracking generally provide more stable than the effect of the single visual tracking. This paper presents a new tightly-coupled hybrid tracking approach combining vision-based systems with inertial sensor. Based on multi-frequency sampling theory in the measurement data synchronization, a strong tracking filter (STF) is used to smooth sensor data and estimate position and orientation. Through adding time-varying fading factor to adaptively adjust the prediction error covariance of filter, this method improves the performance of tracking for fast moving targets. Experimental results show the efficiency and robustness of this proposed approach.

scholarly journals An INS/Geomagnetic Integrated Navigation Algorithm Based on Matching Strategy and Hierarchical Filtering

Electronics ◽  
2019 ◽  
Vol 8 (4) ◽  
pp. 460
Author(s):  
Xiusheng Duan ◽  
Jing Xiao ◽  
Xiaohui Qi ◽  
Yifei Liu
Keyword(s):  
Magnetic Measurements ◽  
Inertial Navigation ◽  
State Equation ◽  
Integrated Navigation ◽  
Matching Algorithm ◽  
Filtering Algorithm ◽  
Navigation Algorithm ◽  
Physical Experiments ◽  
Matching Strategy ◽  
Navigation Information

To improve the positioning accuracy of an inertial/geomagnetic integrated navigation algorithm, a combined navigation method based on matching strategy and hierarchical filtering is proposed. First, the PDA-ICCP geomagnetic matching algorithm is improved. On basis of evaluating the distribution of magnetic measurements, a number of controllable magnetic values are regenerated to participate in the geomagnetic matching algorithm (GMA). As a result, accuracy of the matching algorithm is ensured and its efficiency is improved. Secondly, the integrated navigation filter is designed based on the hierarchical filtering strategy, in which the navigation information of the geomagnetic matching module and inertial navigation module are respectively filtered and fused in the main filter. In this way, the shortcoming that GMA is unable to provide continuous and real-time navigation information is overcome. Meanwhile, precision of the inertial/geomagnetic integrated navigation algorithm is improved. Finally, the feasibility and validity of the proposed algorithm are verified by simulation and physical experiments. Compared with the integrated filtering algorithm which directly uses the error equation of inertial navigation system (INS) as the state equation, the proposed hierarchical filtering algorithm can achieve higher positioning precision.

Simplified Design of Dual Quaternion Strapdown Inertial Navigation Integration Algorithms

2012 ◽  
Vol 239-240 ◽  
pp. 1421-1427
Author(s):  
Yu Rong Lin ◽  
Liang Chen ◽  
Zhen Xian Fu
Keyword(s):  
Inertial Navigation System ◽  
Inertial Navigation ◽  
Dual Quaternion ◽  
Velocity Increment ◽  
Time Performance ◽  
Navigation Algorithm ◽  
Integration Algorithms ◽  
Simplified Algorithm ◽  
The Cost ◽  
Strapdown Inertial Navigation

Dual quaternion navigation algorithm gain higher accuracy than traditional strapdown inertial navigation algorithm at the cost of real-time performance. In order to reduce tremendous computation amount of the former, a simplified design scheme for navigation integration algorithms is presented in this paper. First, based on update principle and computation rules of dual quaternion we separate rotational and translational increment information from dual quaternion increment, and deduce exact solutions defined by the spiral vector for thrust velocity increment, gravitational velocity increment and displacement increment. Then, considering characteristics of a strapdown inertial navigation system, implementation schemes of simplified integration algorithms for dual quaternion differential equations in three frames, including thrust velocity coordinates, gravitational velocity coordinates and position coordinates, are designed separately. Under the premise of ensuring the accuracy advantage of the original dual quaternion inertial navigation algorithm, the proposed simplified algorithm significantly improve the computational efficiency. This will lay favorable foundation for engineering realization of the dual quaternion strapdown inertial navigation algorithm.

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