Laser tracking attitude dynamic measurement based on vision and inertial navigation

A data fusion attitude dynamic measurement method based on vision and Inertial Measurement Unit (IMU) was studied for attitude measurement in dynamic environment. Firstly, the composition and working principle of the attitude dynamic measurement system were introduced, and a mathematical model for attitude dynamic measurement was established. Secondly, a non-equal period Kalman data fusion algorithm was studied to address the differences in IMU and visual pose calculation cycles in measurement systems. Finally, an experimental platform was built, and a precision two-dimensional turntable was used as the standard value to evaluate the accuracy of the fused attitude. The experimental results show that the data update rate of the attitude measurement system can reach 100Hz. When the target rotates at 5°/s along the azimuth direction, the maximum absolute deviation of the azimuth angle at 3m is 0.49°, and the maximum absolute deviation of the azimuth angle at 15m is 1.05°. The proposed method can improve the dynamic performance of attitude measurement system and compensate for the limitation of visual solving which requires intervisibility.