Alignment of reference frame for visual inertial odometry and satellite positioning system

摘要

A method for aligning visual inertia odometry (VIO) and satellite positioning system (SPS) reference frames includes obtaining a plurality of range rate measurements of a mobile platform from an SPS. The range rate measurement is for the SPS global reference frame. The method also includes obtaining a plurality of VIO speed measurements of the mobile platform from the VIO system. The VIO speed measurement is for the local reference frame of the VIO system. Thereafter, at least one orientation parameter is determined for aligning the global reference frame and the local reference frame based on the range rate measurement and the VIO speed measurement. [Selection] Figure 3