|Table of Contents|

An Integrated Navigation Method Based on VINS/FINS(PDF)

南京师范大学学报（工程技术版）[ISSN:1006-6977/CN:61-1281/TN]

Issue:
2021年03期
Page:
42-48
Research Field:
控制科学与工程
Publishing date:

Info

Title:
An Integrated Navigation Method Based on VINS/FINS
Author(s):
Yuan Shan; Wan You; Meng Jiajie; Wang Yuting; Qian Weixing; Gu Cuihong
NARI School of Electrical and Automation Engineering,Nanjing Normal University,Nanjing 210023,China
Keywords:
integrated navigation; biped walking robot; visual-inertial navigation system; zero-velocity update; information bidirectional fusion
PACS:
TP391.41
DOI:
10.3969/j.issn.1672-1292.2021.03.006
Abstract:
Aiming at the problems of low accuracy of micro inertial devices in vision/inertial integrated navigation system(VINS)and poor observability of course angle error of foot inertial navigation system(FINS),a navigation and positioning scheme based on the above two systems is studied. The system structure of this method is composed of two parts:the VINS navigation system installed on the trunk of the biped walking robot and the fins navigation system installed on the foot of the biped robot. VINS can obtain relatively accurate heading angle through visual slam data fusion method. FINS uses the position information after zero speed correction to correct the error of low precision inertial devices in VINS in real time,so as to construct the integrated navigation system structure of bidirectional fusion of vision and inertial information. The experimental results show that the integrated navigation scheme can effectively improve the navigation and positioning accuracy of biped walking robot indoor environment.

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Last Update: 2021-09-30