| Citation: | JIA X X，ZHAO D Q，XIAO G R，et al. A GNSS/IMU/vision multi-source fusion localization method based on refined pre-integration[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（6）：2026-2032 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0567
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A pre-integration algorithm taking into account the earth's rotation and gravity change is developed in order to address the issue that the conventional pre-integration algorithm fixes the value of the earth's gravity and ignores the Earth's rotation. Referring to the dynamic model of high-precision strapdown inertial navigation, the earth rotation angle rate is introduced in the attitude update of the pre-integral dynamic model, and the Coriolis acceleration caused by the earth rotation is introduced in the velocity and position update. Simultaneously, the traditional pre-integral model is improved, taking into account that the carrier's position can feed back the gravity change to the pre-integral algorithm in time. All the process of the pre-integral algorithm are derived in detail after the Earth's rotation and the gravity change are introduced. The refined pre-integration algorithm is applied to a multi-source fusion system based on tightly coupled GNSS/INS/vision. The experimental results show that the model error of the system pre-integration can be effectively reduced by using the refined pre-integration model, and the positioning and attitude accuracy of the multi-source fusion system is improved by 32.41% and 4.23%, respectively.
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