SYSTEMS AND METHODS FOR USING A SLIDING WINDOW OF GLOBAL POSITIONING EPOCHS IN VISUAL-INERTIAL ODOMETRY

• Main Authors: CHEN YIMING, JOSHI AVDHUT, LIMA JOHN STEVEN, RAMANANDAN ARVIND, CHARI MURALI
• Format: Patent
• Language: Chinese; English
• Published: 06.08.2019
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

A method for visual inertial odometry (VIO) -aided global positioning is described. The method includes updating an extended Kalman filter (EKF) state including a current pose and a sliding window ofmultiple prior poses. The sliding window includes poses at a number of most recent global positioning system (GPS) time epochs. Updating the EKF includes updating an EKF covariance matrix for the prior poses and the current pose in the EKF state. The method also includes determining, at a GPS epoch, a relative displacement between each of the updated prior poses and the current pose. The method further includes determining an error covariance of each of the relative displacements based on cross-covariances between each of the updated prior poses and the current pose in the EKF covariance matrix. The method additionally includes using the relative displacements and the error covariances to fuse pseudorange measurements taken over multiple epochs. 描述了一种用于视觉惯性测距VIO辅助的全球定位的方法。所述方法包含更新包含当前姿态和多个先前姿态的滑动窗口的扩展的卡尔曼滤波器EKF状态。