Research On MIMU/Vision Bio-inspired Navigation Algorithm Based On RatSLAM

INS/visual navigation due to good complementarity and autonomy,has become a hotspot in the field of navigation technology.RatSLAM algorithm simulating rodent brain hippocampus navigation mechanism,is today a more practical simultaneous localization and mapping algorithm.However,the algorithm rely solely on visual information,low reliability,low precision navigation problems in a complex environment.In this paper,adding inertial information on the basis of RatSLAM algorithm,we studied the INS/visual bio-inspired navigation algorithm,to build an experimental system and experimental verification of vehicle.Based on the experimental results show that MIMU/vision bio-inspired navigation algorithm based on RatSLAM improves the ability of environmentally adaptable,and achieve a higher precision navigation Compared with pure vision algorithm.The main contents and innovation are as follows:1,The establishment of a MIMU/vision navigation model.the theoretical basis of inertial systems introduces The basic principle of MIMU and SINS solver three aspects of the system;vision system describes the camera model and visual navigation algorithm2,Design MIMU/vision bio-inspired navigation algorithm based on RatSLAM.elaborated Rat SALM navigation bionic principle,verified experimentally the visual RatSLAM bio-inspired navigation algorithm,and a detailed analysis of error causes.On this basis,improved RatSLAM bio-inspired navigation algorithm,established INS/visual bionic navigation framework based on RatSLAM.3.Based MIMU/vision bio-inspired navigation algorithm,conducted experiments onboard to verificate the algorithm.Then compared the algorithm with purely visual bio-inspired navigation algorithm results.The results showed that: MIMU/vision bio-inspired navigation algorithm improves the adaptability to the environment,to achieve a more accurate navigation results.