Research on helmet integrated positioning algorithm based on vision and dual MIMU

Yupeng Li; Peng Wang; Changku Sun; Jinfeng Zhang

doi:10.1117/12.2611727

8 July 2022 Research on helmet integrated positioning algorithm based on vision and dual MIMU

Yupeng Li, Peng Wang, Changku Sun, Jinfeng Zhang

Proceedings Volume 12282, 2021 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems; 122820Q (2022) https://doi.org/10.1117/12.2611727
Event: 2021 International Conference on Optical Instruments and Technology, 2022, Online Only

Abstract

In order to overcome the shortcomings of Kalman filter algorithm based on Euler Angle and quaternion, a vision and inertial fusion filtering algorithm based on error quaternion is proposed. In this algorithm, error quaternion parameters are used to describe attitude, which not only avoids the singularity of Euler Angle description, but also eliminates the unit constraint of quaternion description. In addition to improving the positioning accuracy of helmet, it can also estimate and compensate the drift error of helmet MIMU online in real time.The effectiveness of the proposed algorithm has been verified by simulation experiments, and the main factors affecting the integrated positioning accuracy has been analyzed.

Citation Download Citation

Yupeng Li, Peng Wang, Changku Sun, and Jinfeng Zhang "Research on helmet integrated positioning algorithm based on vision and dual MIMU", Proc. SPIE 12282, 2021 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Systems, 122820Q (8 July 2022); https://doi.org/10.1117/12.2611727

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