CN103278177A - Calibration method of inertial measurement unit based on camera network measurement - Google Patents
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Abstract
The invention provides a calibration method of an inertial measurement unit (IMU) based on camera network measurement. The method comprises: by construction of the camera measure network, establishing a videogrammetric coordinate system relative with local geographical coordinates, providing a cooperate sign on the surface of an IMU carrier, tracking and measuring the cooperate sign by a camera, calculating the position and the attitude of the IMU, further getting projections of gravitational acceleration and input excitation of rotation angle or angular velocity in an IMU carrier system, by comparison between the input excitation and outputs of an accelerometer and a gyroscope in the IMU, optimally calculating IMU calibration parameters and realizing IMU calibration. The camera network system is used to measure the IMU input excitations, and replaces a turntable which plays a role in input excitation measurement in calibration process of a conventional IMU, and the method can be taken as an IMU calibration method in the absence of the turntable. The method is low in cost and easy to arrange, and the method has advantages in on-site IMU calibration and IMU calibration of a low cost inertial navigation system.
Description
Technical field
The present invention relates to inertial navigation, technical field of computer vision, refer specifically to measure IMU using camera network（Inertial Measurement Unit, IMU）Acceleration and rotate input stimulus, demarcate IMU parameters method.
Background technology
Scaling method conventional current IMU is the scaling method using turntable as core, there is many drawbacks, can only be carried out as demarcation in accurate laboratory, and condition requires high, and calibration process is complicated, it is difficult to for inertial navigation system field calibration；Demarcation is costly, or even is several times as much as inexpensive inertia device（Such as MEMS IMU）Development and production cost.
That carries out at present is broadly divided into two classes based on the IMU scaling methods without turntable or low precision turntable：Mould observation demarcation method and system level scaling method.The research of this kind of IMU scaling methods also treats that further deeply, the application that can't be adapted to completely in the demand of field calibration and low precision IMU demarcation, real system is few.
Using video camera networking to target imaging, by analyzing target image characteristics, feature of interest, target motion or displacement are measured, with noncontact, high accuracy, many advantages such as dynamic measurement are convenient for, posture, position accurate measurement and the motion measurement of various objects is had been widely used for.
The correlative study for measuring demarcation IMU using video camera is extremely rare, search only at present to three pertinent literatures, one is the LED using optical tracking system tracking measurement on IMU such as Kim, the angular speed and acceleration of measurement IMU motions, optimal estimating IMU parameter；The two-way collimated laser beam of utilization of the propositions such as Ling Liangpianshi Harbin Institute of Technology Chen Jie spring generates instruction hot spot on screen, the position orientation relation that hot spot solves system of the world and carrier system is shot using CMOS high-speed cameras, IMU angular velocity of satellite motion and acceleration are calculated, for demarcating IMU parameters.Proposed by the present invention is a kind of newer method based on shooting networking measurement demarcation IMU.
The content of the invention
The present invention proposes a kind of based on shooting networking measurement demarcation IMU（IMU）Method, principle schematic is as shown in figure 1, build video camera measurement network, calibrating camera, set up with the related videographic measurment coordinate system of locality geographic coordinate system, in IMU（IMU）Carrier surface sets cooperation mark, cooperation mark is measured using Camera location, calculate the position and attitude for obtaining IMU, and then obtain the projection of acceleration of gravity and rotational angle or turning rate input excitation in IMU carriers system, by the output for contrasting this input stimulus and accelerometer and gyro in IMU, optimization calculates IMU calibrating parameters, realizes that IMU is demarcated.
The present invention realizes that IMU input stimulus are measured using video camera networking, realizes that IMU is demarcated, specifically comprising following committed step：
1) shooting networking measuring system is built.Multiple cameras is set up around IMU to be calibrated, number of cameras, layout and visual field are rationally set, it is ensured that each cooperation in calibration process on IMU carriers is flagged with least two video cameras can be while see, to meet shooting intersection measurement condition.Cooperation mark is laid in IMU carrier surfaces, cooperation mark is accurately known in the position of IMU carrier coordinate systems, indicated using being easy to extract in the picture with pinpoint visualization（Such as crosshair, to cornet mark or LED）.Networking video camera is using synchronous triggering pattern, and to IMU synchronous acquisition images, the output of accelerometer and gyro also synchronizes collection in IMU, for calibrated and calculated.
2) photographic measurement system is demarcated.Utilize the demarcation such as plane target plank, plumb line, control point shooting networking measuring system relevant parameter（Including position orientation relation between camera intrinsic parameter, multiple cameras etc.）, the videographic measurment coordinate system related to local geographic coordinate system is set up, local gravity direction, local level, earth rotation direction etc. can be characterized.
3) IMU acceleration excitation shooting networking measurement.IMU acceleration input is acceleration of gravity in a static condition, IMU static state is placed, IMU is imaged using networking video camera, extract the cooperation mark that IMU carrier surfaces are laid in image, binocular or the intersection of many mesh obtain coordinate representation of the cooperation mark in videographic measurment coordinate system, when measuring more than three not conllinear cooperation marks, it can calculate according to cooperation mark at the coordinate of IMU carriers system and obtain position of the IMU carrier coordinate systems with respect to videographic measurment coordinate system, posture relation.Due to gravity direction in the expression of videographic measurment coordinate system, it is known that the trivector that therefore can obtain gravity in IMU carrier coordinate systems is represented, i.e. measurement obtains IMU acceleration input stimulus.
4）IMU rotates excitation shooting networking measurement.IMU real-time synchronizations are imaged using networking video camera, the cooperation mark that dynamic tracking measurement IMU carrier surfaces are laid, binocular or the intersection of many mesh obtain coordinate representation of each imaging moment cooperation mark in videographic measurment coordinate system, when measuring more than three not conllinear cooperation marks at each moment, it can calculate and obtain position of the moment IMU carrier coordinate systems with respect to videographic measurment coordinate system, posture relation.Using not in the same time between the real-time attitude changes of IMU carriers obtain IMU rotational angle or angular speed.According to IMU carriers system and the real-time pose relation of videographic measurment coordinate system, obtain rotational angle or angular velocity vector that IMU carrier coordinate systems are represented, i.e. measurement and obtain IMU rotation input stimulus.
5）The optimization of IMU calibrating parameters is resolved.Optimization design IMU static placement location and rotation order, utilize step 3), many static positions of method 4) measurement IMU, the input stimulus repeatedly rotated.While measuring the excitation of IMU acceleration and rotating excitation input, the measurement output of accelerometer and gyro in synchronous acquisition IMU.Compare IMU input and output, according to IMU input/output models and measurement error rule, optimization calculates each calibrating parameters of IMU, realizes IMU demarcation.
The present invention can reach following technique effect：
Videographic measurment technology is applied to IMU and demarcates field there is provided the new approaches that IMU is demarcated by the present invention, has innovated IMU calibration modes.Using the input stimulus for imaging group network system measurement IMU, input stimulus measurement effect of the turntable in traditional IMU demarcation is instead of, therefore the present invention can be as a kind of IMU without turntable scaling method.Compared with high precision turntable, shooting networking measuring system cost of the invention is low, it is easy to lay, and the present invention has advantage in IMU field calibrations and low cost inertial navigation system IMU demarcation.
Brief description of the drawings
IMU calibration system schematic diagrames of the Fig. 1 based on shooting networking measurement,
Fig. 2 sets up videographic measurment IMU demarcation coordinate system schematic diagrames using plumb line and control point,
Fig. 3 IMU acceleration excitation shooting networking instrumentation plan,
Fig. 4 IMU rotate excitation shooting networking instrumentation plan.
Embodiment
1st, videographic measurment IMU demarcates the foundation of coordinate system
Videographic measurment IMU demarcation establishment of coordinate system is, by calibrating camera network, to set up and local geographic coordinate system（N systems）Related videographic measurment coordinate system（Hereinafter referred to as m systems）, utilize the basic concepts such as video camera Representation Level benchmark, gravity direction.
As shown in Fig. 2 gravity direction is visualized using plumb line, for enhancing effect of visualization, catenary can be coated to color, work indicates or makees catenary using LED line lamp on catenary.Horizontal plane-gravity direction coordinate system can be set up using plumb line.If there is north orientation benchmark, the relation between control point and north orientation benchmark is determined using total powerstation etc., so as to local geographic coordinate system be visualized by plumb line and control point, for calibrating camera network.For MEMS IMU demarcation, the influence of general earth rotation can be neglected, then can set up horizontal plane-gravity direction coordinate system without north orientation benchmark and demarcate coordinate system for IMU.
Because videographic measurment IMU demarcates the X-axis of coordinate system, Y-axis in local level, Z axis is parallel with gravity direction.Gravity direction unit vector IMU demarcate coordinate system in coordinate be
, wherein gmFor local gravitational acceleration IMU demarcate coordinate system expression, g=| gm| it is the size of acceleration of gravity.
2nd, IMU acceleration excitation shooting networking measurement
Under static conditions, IMU acceleration is actuated to gravity.IMU static state is placed, then IMU measurements are met
Wherein
For IMU carrier coordinate systems（B systems）Between videographic measurment coordinate system（M systems）Pose transformation matrix, fbFor IMU specific force.
The combination demarcation of IMU accelerometers needs known specific force fb, it was found from formula (1), if the placing attitude for obtaining IMU can be measured, i.e. IMU carriers lie in the pose transformation matrix that videographic measurment coordinate system is built
, it is possible to measurement obtains fb。
As shown in figure 3, laying more than 3 non-co- line feature points in IMU carrier surfaces, position coordinates of the characteristic point in IMU carrier coordinate systems is, it is known that set respectively
（j=1,2,3…）, these characteristic points are obtained in videographic measurment coordinate system using video camera intersection measurement（That is IMU demarcates coordinate system）Coordinate, if be respectively
（j=1,2,3…）If, IMU carrier coordinate system origins ObPosition in videographic measurment coordinate system is
, then have
Utilize the coordinate representation of more than 3 non-co- line feature points
、（j=1,2,3…）, can be solved and obtained according to formula (2)
With
。
The method for building up of coordinate system is demarcated according to IMU, acceleration of gravity is expressed as videographic measurment coordinate system
Understood according to (1), (3), IMU specific force input is
3rd, IMU rotates excitation shooting networking measurement
As shown in figure 4, IMU turns to position 2 from position 1, carrier coordinate system is from b1Change to b2.More than 3 non-colinear cooperation marks are laid in IMU carrier surfaces, the position coordinates of these cooperation marks of video camera intersection measurement is utilized.If during position 1, coordinate of the cooperation mark in videographic measurment coordinate system is
（j=1,2,3…）, go to behind position 2, coordinate of the cooperation mark in videographic measurment coordinate system is
（j=1,2,3…）.Coordinate of the cooperation mark in IMU carrier coordinate systems be（j=1,2,3…）, it is known that then having
Wherein
、
Respectively carrier coordinate system b1、b2To videographic measurment coordinate system m pose transformation matrix,
、
Respectively carrier coordinate system b1、b2Position vector of the origin in videographic measurment coordinate system.
According to formula (5), known coordinate is utilized
（j=1,2,3…）The coordinate measured
、
（j=1,2,3…）Can be in the hope of
、
With
、
.Pose transformation matrix is before and after obtaining IMU rotation
Note
, then corresponding to quaternary number can be write as
Wherein μ be anglec of rotation vector, μ=| μ | be anglec of rotation size.Position 1 can obtain to the anglec of rotation vector μ of position 2 according to formula (7).
IMU continuous rotation is shot using high-speed camera, then the time of adjacent two interframe is very short, IMU rotational angle very littles, and the anglec of rotation vector μ of adjacent two interframe is approximately the expression μ in carrier systemb, momentary rotational angle speed can be approximately
ωb(t)=μb/τ （8）
Wherein τ is the time interval between the adjacent two frames imaging of videographic measurment.After the rotation for undergoing a period of time T, anglec of rotation vector total IMU is
For MEMS IMU demarcation, the influence of rotational-angular velocity of the earth can not be considered, then gyro turning rate input
Meet
For high-precision IMU demarcation, the influence of rotational-angular velocity of the earth must also be considered, then
4th, IMU calibrating parameters are calculated
If IMU uses following single order input/output model：
Wherein, fbIt is the expression than force vector in IMU carrier coordinate system b systems,
It is input angular velocity vector in the expression of b systems, NaIt is the accelerometer pulse output of unit interval, NgIt is the gyro pulse output of unit interval, Ka、KgThe calibration factor and installation relation matrix of accelerometer and gyro, f are represented respectively0、ω0It is zero inclined, δ of gyro and accelerometerfAnd δωIt is noise section, is typically modeled as white noise.
According to methods described above, it is possible to use the specific force input (f of many positions of photographic measurement system measurement IMUb)k（k=1,2,…）The turning rate input repeatedly rotated
（k=1,2,…）, exported according to the measurement of accelerometer and gyro, K obtained using the method Optimization Solution such as least square methoda、KgAnd f0、ω0, so as to realize that IMU calibrating parameters are resolved.
If IMU uses other input/output models, the output of the input stimulus and IMU accelerometers and gyro according to measurement is corresponded to, Optimization Solution model parameter realizes that IMU is demarcated.Calibrated and calculated uses suitable parameter optimization calculation method, suppresses correlated error, improves stated accuracy.
Claims (7)
1. the IMU scaling method based on shooting networking measurement, it is characterised in that build video camera measurement network, the videographic measurment coordinate system related to local geographic coordinate system is set up, in IMU（Inertial Measurement Unit, IMU）Carrier surface sets cooperation mark, cooperation mark is measured using Camera location, calculate the position and attitude for obtaining IMU, and then obtain the projection of acceleration of gravity and rotational angle or turning rate input excitation in IMU carriers system, by the output for contrasting this input stimulus and accelerometer and gyro in IMU, optimization calculates IMU calibrating parameters, realizes that IMU is demarcated
Specifically comprise the following steps：
1) shooting networking measuring system is built：Multiple cameras is set up around IMU to be calibrated, each cooperation in guarantee calibration process on IMU carriers is flagged with least two video cameras can be while see, cooperation mark is laid in IMU carrier surfaces, cooperation mark is accurately known in the position of IMU carrier coordinate systems, networking video camera is using synchronous triggering pattern, to IMU synchronous acquisition images, the output of accelerometer and gyro also synchronizes collection in IMU, for calibrated and calculated；
2) photographic measurement system is demarcated：Utilize plane target plank, plumb line, control point demarcation shooting networking measuring system relevant parameter, including the position orientation relation between camera intrinsic parameter, multiple cameras, the videographic measurment coordinate system related to local geographic coordinate system is set up, local gravity direction, local level, earth rotation direction is characterized；
3) IMU acceleration excitation shooting networking measurement：IMU static state is placed, IMU is imaged using networking video camera, extract the cooperation mark that IMU carrier surfaces are laid in image, binocular or the intersection of many mesh obtain coordinate representation of the cooperation mark in videographic measurment coordinate system, when measuring more than three not conllinear cooperation marks, according to cooperation mark IMU carriers system coordinate, calculating obtains position of the IMU carrier coordinate systems with respect to videographic measurment coordinate system, posture relation, known to expression of the gravity direction in videographic measurment coordinate system, the trivector that gravity be can obtain in IMU carrier coordinate systems is represented, i.e. measurement obtains IMU acceleration input stimulus；
4）IMU rotates excitation shooting networking measurement：IMU real-time synchronizations are imaged using networking video camera, the cooperation mark that dynamic tracking measurement IMU carrier surfaces are laid, binocular or the intersection of many mesh obtain coordinate representation of each imaging moment cooperation mark in videographic measurment coordinate system, when measuring more than three not conllinear cooperation marks at each moment, calculating obtains position of the moment IMU carrier coordinate systems with respect to videographic measurment coordinate system, posture relation, using not in the same time between the real-time attitude changes of IMU carriers obtain IMU rotational angle or angular speed, according to IMU carriers system and the real-time pose relation of videographic measurment coordinate system, obtain rotational angle or angular velocity vector that IMU carrier coordinate systems are represented, i.e. measurement obtains IMU rotation input stimulus；
5）The optimization of IMU calibrating parameters is resolved：Utilize step 3), many static positions of method 4) measurement IMU, the input stimulus repeatedly rotated, while measuring the excitation of IMU acceleration and rotating excitation input, the measurement output of accelerometer and gyro in synchronous acquisition IMU, compare IMU input and output, according to IMU input/output models and measurement error rule, optimization calculates each calibrating parameters of IMU, realizes IMU demarcation.
2. the IMU scaling method according to claim 1 based on shooting networking measurement, it is characterised in that the cooperation mark is using being easy to extract in the picture and pinpoint visualization mark, such as crosshair, to cornet mark or LED.
3. the IMU scaling method according to claim 1 based on shooting networking measurement, it is characterised in that the demarcation photographic measurement system, specifically setting up process is：Pass through calibrating camera network, set up the videographic measurment coordinate system m system related to locality geographic coordinate system n systems, utilize video camera Representation Level benchmark, gravity direction basic concept, gravity direction is visualized using plumb line, horizontal plane-gravity direction coordinate system is set up, if there is north orientation benchmark, the relation between control point and north orientation benchmark is determined using total powerstation, local geographic coordinate system is visualized by plumb line and control point, for calibrating camera network.
4. the IMU scaling method according to claim 1 based on shooting networking measurement, it is characterised in that the IMU acceleration excitation shooting networking is measured, and detailed process is：
IMU static state is placed, IMU acceleration is actuated to acceleration of gravity, and IMU measurements are met
Wherein
For the pose transformation matrix between IMU carrier coordinate system b systems and videographic measurment coordinate system m systems, fbFor IMU specific force, gmBe acceleration of gravity in videographic measurment coordinate system, i.e. IMU demarcates the expression of coordinate system；
More than 3 non-co- line feature points are laid in IMU carrier surfaces, position coordinates of the characteristic point in IMU carrier coordinate systems is, it is known that set respectively
（j=1,2,3…）, coordinate of these characteristic points in videographic measurment coordinate system is obtained using video camera intersection measurement, if being respectively
（j=1,2,3…）If, IMU carrier coordinate system origins ObPosition in videographic measurment coordinate system is, then have
Utilize the coordinate representation of more than 3 non-co- line feature points
、（j=1,2,3…）, solution obtains
With
；
The method for building up of coordinate system, expression g of the acceleration of gravity in videographic measurment coordinate system are demarcated according to IMUm, it is known that the specific force input for obtaining IMU therefore can be measured
5. the IMU scaling method according to claim 1 based on shooting networking measurement, its feature is as follows：The IMU rotates excitation shooting networking measurement, and detailed process is：
IMU is turned into position 2 from position 1, carrier coordinate system is from b1Change to b2, more than 3 non-colinear cooperation marks are laid in IMU carrier surfaces, using the position coordinates of these cooperation marks of video camera intersection measurement, if during position 1, coordinate of the cooperation mark in videographic measurment coordinate system is（j=1,2,3…）, go to behind position 2, coordinate of the cooperation mark in videographic measurment coordinate system is
（j=1,2,3…）, coordinate of the cooperation mark in IMU carrier coordinate systems be
（j=1,2,3…）, it is known that then having
Wherein
、Respectively carrier coordinate system b1、b2To videographic measurment coordinate system m pose transformation matrix,
、
Respectively carrier coordinate system b1、b2Position vector of the origin in videographic measurment coordinate system；
Utilize known coordinate
（j=1,2,3…）The coordinate measured
、
（j=1,2,3…）Try to achieve
、
With
、
, pose transformation matrix is before and after IMU rotation
If
The anglec of rotation vector of corresponding position 1 to position 2 is μ, IMU continuous rotation is shot using high-speed camera, then the time of adjacent two interframe is very short, IMU rotational angle very littles, and the anglec of rotation vector μ of adjacent two interframe is approximately the expression μ in carrier systemb, momentary rotational angle speed is approximately
ωb(t)=μb/τ （6）
Wherein τ is the time interval between the adjacent two frames imaging of videographic measurment, and after the rotation for undergoing a period of time T, anglec of rotation vector total IMU is
If not considering the influence of rotational-angular velocity of the earth, gyro turning rate input
Meet
If considering the influence of rotational-angular velocity of the earth,
6. the IMU scaling method according to claim 1 based on shooting networking measurement, it is characterised in that the IMU calibrating parameters optimization is resolved, and detailed process is：If IMU uses following single order input/output model：
Wherein, fbThe ratio force vector represented for b systems,
The input angular velocity vector represented for b systems, NaIt is the accelerometer pulse output of unit interval, NgIt is the gyro pulse output of unit interval, Ka、KgThe calibration factor and installation relation matrix of accelerometer and gyro, f are represented respectively0、ω0It is zero inclined, δ of gyro and accelerometerfAnd δωIt is noise section, the specific force for measuring many positions of IMU using photographic measurement system inputs (fb)k（k=1,2,…）The turning rate input repeatedly rotated
（k=1,2,…）, exported according to the measurement of accelerometer and gyro, Optimization Solution obtains Ka、KgAnd f0、ω0, realize that IMU calibrating parameters are resolved.
7. the IMU scaling method according to claim 1 based on shooting networking measurement, characterized in that, IMU uses other input/output models, then the output of the input stimulus and IMU accelerometers and gyro according to measurement is corresponded to, Optimization Solution model parameter, realizes that IMU is demarcated.
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