Underwater Vehicle Motion Parameters Estimation Simulation and Experiment Based on Monocular Vision and Low Cost Inertial Measurement Unit
نویسندگان
چکیده
In this paper, authors proposed a practical motion estimation strategy to obtain the single static object position and the vehicle’s motion parameters simultaneously by utilizing camera and IMU (Inertial Measurement Unit), and tried several classic nonlinear parameters estimation methods on this problem based on the Matlab simulation. A lot of preliminary calibration experiments have been done to fuse the data from IMU and camera, which included: camera calibration, IMU error modeling, and relative attitude calibration between IMU and camera. The obtaining of sensor’s model made the simulation work be possible, and the PF algorithm can track the vehicle’s motion parameters and obtain the target position very well. The accuracy is centimeter level.
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