Graph-optimisation-based self-calibration method for IMU/odometer using preintegration theory

IF 1.9 4区工程技术 Q2 ENGINEERING, MARINE

Journal of Navigation Pub Date : 2022-01-13 DOI:10.1017/S0373463321000722

Shiyu Bai, Jizhou Lai, Pin Lyu, Yiting Cen, Bingqing Wang, Xin Sun

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引用次数: 3

Abstract

Determination of calibration parameters is essential for the fusion performance of an inertial measurement unit (IMU) and odometer integrated navigation system. Traditional calibration methods are commonly based on the filter frame, which limits the improvement of the calibration accuracy. This paper proposes a graph-optimisation-based self-calibration method for the IMU/odometer using preintegration theory. Different from existing preintegrations, the complete IMU/odometer preintegration model is derived, which takes into consideration the effects of the scale factor of the odometer, and misalignments in the attitude and position between the IMU and odometer. Then the calibration is implemented by the graph-optimisation method. The KITTI dataset and field experimental tests are carried out to evaluate the effectiveness of the proposed method. The results illustrate that the proposed method outperforms the filter-based calibration method. Meanwhile, the performance of the proposed IMU/odometer preintegration model is optimal compared with the traditional preintegration models.

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基于预积分理论的IMU/里程表图优化自标定方法

标定参数的确定对惯性测量单元与里程计组合导航系统的融合性能至关重要。传统的标定方法通常基于滤波框架，这限制了标定精度的提高。利用预积分理论，提出了一种基于图优化的IMU/里程计自标定方法。与现有的预积分方法不同，推导了完整的IMU/里程表预积分模型，该模型考虑了里程表尺度因子的影响，以及IMU与里程表之间姿态和位置的不对准。然后采用图优化方法进行标定。利用KITTI数据集和现场试验验证了该方法的有效性。结果表明，该方法优于基于滤波器的标定方法。同时，与传统的预积分模型相比，所提出的IMU/里程表预积分模型的性能是最优的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Navigation 工程技术-工程：海洋

CiteScore

6.10

自引率

4.20%

发文量

审稿时长

4.6 months

期刊介绍： The Journal of Navigation contains original papers on the science of navigation by man and animals over land and sea and through air and space, including a selection of papers presented at meetings of the Institute and other organisations associated with navigation. Papers cover every aspect of navigation, from the highly technical to the descriptive and historical. Subjects include electronics, astronomy, mathematics, cartography, command and control, psychology and zoology, operational research, risk analysis, theoretical physics, operation in hostile environments, instrumentation, ergonomics, financial planning and law. The journal also publishes selected papers and reports from the Institute’s special interest groups. Contributions come from all parts of the world.