Title:
METHOD AND APPARATUS FOR POSITION-ATTITUDE FUSION OF IMU AND RIGID BODY, DEVICE, AND STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2021/218731
Kind Code:
A1
Abstract:
A method and apparatus for position-attitude fusion of an IMU and a rigid body, a device, and a storage medium, relating to the field of measurement and used for solving the problem of large errors between measured position and attitude data and real position and attitude data of rigid bodies in measurement of position and attitude data of rigid bodies. The method for position-attitude fusion of an IMU and a rigid body comprises: determining a positional relationship between an inertial measurement unit (IMU) and a rigid body (101); when the rigid body carries the IMU in motion, obtaining measured attitude data of the IMU and calculating, by means of the measured attitude data of the IMU, the attitude data to be fused of the IMU (102); in a preset world coordinate system, obtaining measured attitude data of the rigid body and determining candidate attitude data of the rigid body according to the measured attitude data of the IMU, the measured attitude data of the rigid body, and the positional relationship between the IMU and the rigid body (103); and using a fusion algorithm to fuse the attitude data to be fused of the IMU with the candidate attitude data of the rigid body to obtain fused position and attitude data of the rigid body (104).
Inventors:
WU DIYUN (CN)
XU QIUZI (CN)
XU QIUZI (CN)
Application Number:
PCT/CN2021/088625
Publication Date:
November 04, 2021
Filing Date:
April 21, 2021
Export Citation:
Assignee:
SHENZHEN REALIS MULTIMEDIA TECH LTD (CN)
International Classes:
G01C21/18; G01C9/00; G01P15/18
Foreign References:
| CN111504314A | 2020-08-07 | |||
| CN110567484A | 2019-12-13 | |||
| CN107289931A | 2017-10-24 | |||
| CN110823214A | 2020-02-21 | |||
| CN107102735A | 2017-08-29 | |||
| CN107316319A | 2017-11-03 | |||
| US20140333741A1 | 2014-11-13 |
Attorney, Agent or Firm:
SHENZHEN DINGTAIZHENGHE INTELLECTUAL PROPERTY OFFICE (CN)
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