用于增强现实的姿态测量系统及其校正技术研究
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摘要
增强现实是虚拟现实技术的重要分支,也是近年来国内外研究机构的研究热点,其应用范围逐渐从室内环境向户外系统过渡。姿态测量是增强现实系统中的一项关键技术,但是传统的姿态测量技术跟踪范围有限,容易受到环境磁场干扰,无法应用于户外增强现实系统中。本文研究基于测量地球磁场和重力场的进行姿态确定的地磁姿态测量系统及其校正技术,所研制的系统具有跟踪范围广、体积小、功耗低等优点,不仅可应用于增强现实系统,而且在无人航行器、车辆死区推估、石油钻井等领域也有重要的应用前景。
本文详细分析了地磁姿态测量系统的各种误差和干扰源,建立了基于物理原理的磁传感器误差模型,提出了基于椭球拟合和地磁倾角不变原理的磁传感器误差校正方法。所提出的方法在一系列姿态下记录姿态测量系统中加速度传感器和磁传感器的测量值,通过椭球拟合求解环境磁场的硬磁偏置干扰,并同时获得软磁系数中的伸缩矩阵与悬挂矩阵,最后根据地磁倾角不变原理求解软磁系数的对准矩阵。该校正方法可在无航向基准的条件下实现姿态测量系统航向角的自校正。
为了去除磁传感器测量中的噪声干扰,本文提出了采用随机采样一致和正交距离判据的方法,保障了校正结果的准确性和稳定性。
本文研究了三轴加速度传感器在参考基准下的校正标定方法,讨论了校正姿态的选取方法,并提出了在无基准条件下的加速度传感器偏置的校正方法。
本文探讨了姿态测量系统水平状态下基于地磁场测量幅值动态调整卡尔曼滤波器参数以降低磁场瞬间干扰对航向角影响的方法,并进行了混合姿态测量系统的设计。
本论文分别设计了基于双轴加速度传感器的地磁姿态测量系统和三轴加速度传感器与三轴陀螺的混合姿态测量系统,对所提算法进行了验证,详细分析了实验结果,实验结果证明所提算法的有效性。
Augmented Reality (AR) is an important branch of the Virtual Reality (VR) and is attracting much attention of the researchers all over the world in recent years. Its application is expanding from indoor environments to outdoor systems. One of the key technologies in AR system is attitude measurement. However, traditional attitude measurement devices can not be applied in outdoor AR systems due to their limited working ranges and errors caused by environmental interferences. An attitude measurement system based on the measurements of the gravity field and the magnetic field of the earth with the characteristics of large working range, small size and low power consumption is presented. Algorithms for its calibration are studied. The proposed system can not only be applied in AR applications, but also in various applications such as unmanned vehicles, dead reckoning systems, and oil drilling.
The error sources of the proposed attitude measurement system are first analyzed in detail. Then an error model based on physical principles is studied. Finally a calibration method based on ellipsoid fitting and invariant of the geomagnetic dip angle at a specific location is presented. During the calibration procedure, a set of measurements of three-axis accelerometers and magnetometers are recorded at various attitudes. Then the hard iron offsets, the stretch matrix and the hanger matrix of the soft iron are solved by fitting an ellipsoid to the measured data of the magnetometers, and the aligner matrix of the soft iron are determined using the fact that the dip angle is constant at the current location. The proposed calibration method can be performed even when no heading reference is provided.
A method to remove outliers from the measurements of the magnetometer based on random sampling consensus (RANSAC) and orthogonal distance is presented, which greatly improves the accuracy and stability of the calibration method for magnetometers.
A calibration method for three-axis accelerometers with absolute tilt reference is provided and the attitude selection method for accelerometer calibration is discussed. The calibration method for the offset of the accelerometers without reference is also proposed.
An adaptive Kalman filter based on the magnitude of the measurements is presented to keep the heading stable when there is a sudden magnetic disturbance in the horizontal plane, and a hybrid attitude measurement system is designed.
Two attitude measurement systems are implemented respectively, one is based on two-axis accelerometers and the other is based on three-axis accelerometers and three gyroscopes. Experimental results show the effectiveness of the proposed algorithms.
本文详细分析了地磁姿态测量系统的各种误差和干扰源,建立了基于物理原理的磁传感器误差模型,提出了基于椭球拟合和地磁倾角不变原理的磁传感器误差校正方法。所提出的方法在一系列姿态下记录姿态测量系统中加速度传感器和磁传感器的测量值,通过椭球拟合求解环境磁场的硬磁偏置干扰,并同时获得软磁系数中的伸缩矩阵与悬挂矩阵,最后根据地磁倾角不变原理求解软磁系数的对准矩阵。该校正方法可在无航向基准的条件下实现姿态测量系统航向角的自校正。
为了去除磁传感器测量中的噪声干扰,本文提出了采用随机采样一致和正交距离判据的方法,保障了校正结果的准确性和稳定性。
本文研究了三轴加速度传感器在参考基准下的校正标定方法,讨论了校正姿态的选取方法,并提出了在无基准条件下的加速度传感器偏置的校正方法。
本文探讨了姿态测量系统水平状态下基于地磁场测量幅值动态调整卡尔曼滤波器参数以降低磁场瞬间干扰对航向角影响的方法,并进行了混合姿态测量系统的设计。
本论文分别设计了基于双轴加速度传感器的地磁姿态测量系统和三轴加速度传感器与三轴陀螺的混合姿态测量系统,对所提算法进行了验证,详细分析了实验结果,实验结果证明所提算法的有效性。
Augmented Reality (AR) is an important branch of the Virtual Reality (VR) and is attracting much attention of the researchers all over the world in recent years. Its application is expanding from indoor environments to outdoor systems. One of the key technologies in AR system is attitude measurement. However, traditional attitude measurement devices can not be applied in outdoor AR systems due to their limited working ranges and errors caused by environmental interferences. An attitude measurement system based on the measurements of the gravity field and the magnetic field of the earth with the characteristics of large working range, small size and low power consumption is presented. Algorithms for its calibration are studied. The proposed system can not only be applied in AR applications, but also in various applications such as unmanned vehicles, dead reckoning systems, and oil drilling.
The error sources of the proposed attitude measurement system are first analyzed in detail. Then an error model based on physical principles is studied. Finally a calibration method based on ellipsoid fitting and invariant of the geomagnetic dip angle at a specific location is presented. During the calibration procedure, a set of measurements of three-axis accelerometers and magnetometers are recorded at various attitudes. Then the hard iron offsets, the stretch matrix and the hanger matrix of the soft iron are solved by fitting an ellipsoid to the measured data of the magnetometers, and the aligner matrix of the soft iron are determined using the fact that the dip angle is constant at the current location. The proposed calibration method can be performed even when no heading reference is provided.
A method to remove outliers from the measurements of the magnetometer based on random sampling consensus (RANSAC) and orthogonal distance is presented, which greatly improves the accuracy and stability of the calibration method for magnetometers.
A calibration method for three-axis accelerometers with absolute tilt reference is provided and the attitude selection method for accelerometer calibration is discussed. The calibration method for the offset of the accelerometers without reference is also proposed.
An adaptive Kalman filter based on the magnitude of the measurements is presented to keep the heading stable when there is a sudden magnetic disturbance in the horizontal plane, and a hybrid attitude measurement system is designed.
Two attitude measurement systems are implemented respectively, one is based on two-axis accelerometers and the other is based on three-axis accelerometers and three gyroscopes. Experimental results show the effectiveness of the proposed algorithms.
引文
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