The Research Of The EMU/Stereo Camera/Odometer Integrated Navigation Based The Porbe Car

High accurate localization of rover is crucial for path planning, obstacleavoidance and science objects detection in rover mission. Conventional methodsbased on GPS localization are unavailable for rover due to the unknown outer space.So, it is meaningful for rover mission to develop a autonomous, robust and fastlocalization method with rover-mounted equipments, including stereo cameras.The main contents of this paper include the following three aspects:1. This paper describes the principles of the inertial navigation system, derivesdigital iterative algorithm of SINS: quaternion, rotation vector method, and makes asimulation of attitude update algorithm.2. This paper describes the principles of the navigation of stereo cameras.Feature tracking in consecutive frames was introduced to build image network basedon adaptive selection of geometric key frames. Bundle adjustment was used to obtainhigh accurate localization results.3.We analyze the error equation of strapdown inertial navigation system (IMU),the mileage meter (Odometer) and Stereo vision (Visual Stereo), and establish thesystem’s equation and observation equation which is mainly based on the strapdowninertial navigation system for Kalman filtering, then give the Federal filtercombined Solutions of integrated navigation system based the probe car. Fieldexperiment and the simulation results show that the integrated navigation system caneffectively inhibit the navigation error when feedback correction works.This ensurethe integrated navigation system can still output stable and highly accurate locationservices when visual odometry position failure. Improve the fault tolerance andpositioning precision.