gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya / Gyroscopy and Navigation0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»gyroscopy-528Research ArticleСтатьиМногосенсорная индивидуальная система навигации с визуальными средствами коррекции для использования внутри помещенийКесслерК.

Кесслер Кристоф, инженер-исследователь. 

АшерК.

Ашер Кристиан, инженер-исследователь. 

ФладМ.

Флад Михаэль, студент. инженер-исследователь.

ТроммерГ. Ф.

Троммер Герт Ф., профессор, доктор технических наук, декан факультета, руководитель института. Действительный член общественного объединения «Академия навигации и управления движением». 

Технологический институт Карлсруэ, Институт оптимизации системGermanyИнститут оптимизации систем, факультет электротехники и информационной техникиGermany2012050320262016487Copyright © Кесслер К., Ашер К., Флад М., Троммер Г., 20262026Кесслер К., Ашер К., Флад М., Троммер Г.Кесслер К., Ашер К., Флад М., Троммер Г.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/528

Описывается многосенсорная навигационная система IndoorGuide. Встроенная в систему монокулярная камера обеспечивает выработку информации для коррекции местоположения и параметров ориентации. Данные об ориентации формируются путем отслеживания точек схождения в изображениях от монокулярной камеры. Коррекция местоположения осуществляется на основе картографирования и распознавания ранее посещенных мест. Приводится сопоставление результатов комплексной обработки имеющейся информации с использованием фильтра Калмана и метода робастной оптимизации на основе графов.  Представлены и обсуждаются результаты экспериментальных исследований.

Статья по докладу на XVIII Санкт-Петербургской международной конференции по интегрированным

навигационным системам.

In many indoor security and rescue missions, it is essential for the deployed personnel to have accurate positioning information available. If the scene is not explored yet, a map has to be created during the mission and exchanged between different teams, so that subsequent intruders benefit from the knowledge about previously visited locations. In this paper, the multi-sensor navigation system called IndoorGuide is presented which accomplishes this task. It comprises two lightweight micro-electro-mechanical inertial measurement units for tracking the motion of the user. A monocular camera is integrated in the navigation system which provides attitude and position aiding. The attitude information is extracted by tracking vanishing points in the images of the camera. Position aiding is realized by mapping and recognizing visited locations. For the data fusion, a Kalman Filter and a robust optimization technique based on graphs are compared. Results from experimental test runs are presented and discussed.

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The authors declare that there are no conflicts of interest present.