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《中国航空学报(英文版)》 2018-01
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Rapid and robust initialization for monocular visual inertial navigation within multi-state Kalman filter

Wei FANG;Lianyu ZHENG;School of Mechanical Engineering and Automation, Beihang University;  
Sensor-fusion based navigation attracts significant attentions for its robustness and accuracy in various applications.To achieve a versatile and efficient state estimation both indoor and outdoor, this paper presents an improved monocular visual inertial navigation architecture within the Multi-State Constraint Kalman Filter(MSCKF).In addition, to alleviate the initialization demands by appending enough stable poses in MSCKF, a rapid and robust Initialization MSCKF(I-MSCKF) navigation method is proposed in the paper.Based on the trifocal tensor and sigmapoint filter, the initialization of the integrated navigation can be accomplished within three consecutive visual frames.Thus, the proposed I-MSCKF method can improve the navigation performance when suffered from shocks at the initial stage.Moreover, the sigma-point filter is applied at initial stage to improve the accuracy for state estimation.The state vector generated at initial stage from the proposed method is consistent with MSCKF, and thus a seamless transition can be achieved between the initialization and the subsequent navigation in I-MSCKF.Finally, the experimental results show that the proposed I-MSCKF method can improve the robustness and accuracy for monocular visual inertial navigations.
【Fund】: the supports of the Beijing Key Laboratory of Digital Design&Manufacture;; the Academic Excellence Foundation of Beihang University for Ph.D.Students;; the MIIT(Ministry of Industry and Information Technology)Key Laboratory of Smart Manufacturing for High-end Aerospace Products
【CateGory Index】: TN713;TN96
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