High-precision indoor positioning based on robust LM visual inertial odometer and pseudosatellite

doi:10.11947/j.AGCS.2022.20200251

Abstract

Abstract: Visual inertial odometer (VIO) and pseudo-satellite have been widely used in positioning indoors, but in practical applications, both approaches have their own limitations. The visual odometer depends on the actual positioning environments. Gross errors occur in environments with obvious changes in depth of field and uneven illumination, and errors will inevitably accumulate over time. However, relatively high-precision pose measurements can be obtained between adjacent frames. Due to the influence of indoor multipath, the accuracy and reliability of pseudolite indoor positioning are difficult to guarantee. To increase the reliability and stability of indoor positioning, based on the robust LM nonlinear optimization theory, this study mainly investigate indoor high-precision positioning technology approach of integrating high-precision pose measurements of VIO between adjacent frame and pseudolite. The algorithm can not only resist gross errors, but also reduce the influence of unreasonable weight settings among different sensors. Finally, the high-precision dynamic capture equipment built in the indoor environment is used to verify the proposed method. The experimental results show that the method can eliminate the cumulative error of the visual inertial odometer without relying on the loopback, and effectively improve the indoor positioning accuracy and reliability. Compared with the VIO, the positioning accuracy is improved by 59.0% and 77.5% respectively after using the improved LM algorithm for scenes 1 and 2.

Key words: visual inertial odometer, pseudosatellite, LM, robust estimation, indoor positioning

CLC Number:

P227

YANG Gaochao, WANG Qing, YU Baoguo, LIU Pengfei, LI Shuang. High-precision indoor positioning based on robust LM visual inertial odometer and pseudosatellite[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(1): 18-30.

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