VIO 中,如果在世界坐标系中对 IMU 进行积分,积分项中包含体坐标系相对于世界坐标系的瞬时旋转矩阵。然而,在优化位姿时,关键帧时刻体坐标系相对于世界坐标系的旋转矩阵会发生变化,那么需要对 IMU 重新进行积分。预积分就是为了避免这种重复积分。IMU 预积分将参考坐标系改为前一帧的体坐标系,从而积出了两帧之间的相对运动。
预积分
将第 k 帧和第 k+1 帧之间的所有 IMU 进行积分,可得第 k+1 帧的位置、速度和旋转(PVQ),作为视觉估计的初始值,示意图如下:
(点击图片放大看公式)
连续形式
离散形式
//采用的是中值积分的传播方式Vector3d un_gyr = 0.5 * (gyr_0 + angular_velocity) - Bgs[j];Rs[j] *= Utility::deltaQ(un_gyr * dt).toRotationMatrix();Vector3d un_acc_1 = Rs[j] * (linear_acceleration - Bas[j]) - g;Vector3d un_acc = 0.5 * (un_acc_0 + un_acc_1);Ps[j] += dt * Vs[j] + 0.5 * dt * dt * un_acc;Vs[j] += dt * un_acc;
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F:
MatrixXd F = MatrixXd::Zero(15, 15);F.block<3, 3>(0, 0) = Matrix3d::Identity();F.block<3, 3>(0, 3) = -0.25 * delta_q.toRotationMatrix() * R_a_0_x * _dt * _dt + -0.25 * result_delta_q.toRotationMatrix() * R_a_1_x * (Matrix3d::Identity() - R_w_x * _dt) * _dt * _dt;F.block<3, 3>(0, 6) = MatrixXd::Identity(3,3) * _dt;F.block<3, 3>(0, 9) = -0.25 * (delta_q.toRotationMatrix() + result_delta_q.toRotationMatrix()) * _dt * _dt;F.block<3, 3>(0, 12) = -0.25 * result_delta_q.toRotationMatrix() * R_a_1_x * _dt * _dt * - _dt;F.block<3, 3>(3, 3) = Matrix3d::Identity() - R_w_x * _dt;F.block<3, 3>(3, 12) = -1.0 * MatrixXd::Identity(3,3) * _dt;F.block<3, 3>(6, 3) = -0.5 * delta_q.toRotationMatrix() * R_a_0_x * _dt + -0.5 * result_delta_q.toRotationMatrix() * R_a_1_x * (Matrix3d::Identity() - R_w_x * _dt) * _dt;F.block<3, 3>(6, 6) = Matrix3d::Identity();F.block<3, 3>(6, 9) = -0.5 * (delta_q.toRotationMatrix() + result_delta_q.toRotationMatrix()) * _dt;F.block<3, 3>(6, 12) = -0.5 * result_delta_q.toRotationMatrix() * R_a_1_x * _dt * -_dt;F.block<3, 3>(9, 9) = Matrix3d::Identity();F.block<3, 3>(12, 12) = Matrix3d::Identity();
(左右滑动试试)
V:
MatrixXd V = MatrixXd::Zero(15,18);V.block<3, 3>(0, 0) = 0.25 * delta_q.toRotationMatrix() * _dt * _dt;V.block<3, 3>(0, 3) = 0.25 * -result_delta_q.toRotationMatrix() * R_a_1_x * _dt * _dt * 0.5 * _dt;V.block<3, 3>(0, 6) = 0.25 * result_delta_q.toRotationMatrix() * _dt * _dt;V.block<3, 3>(0, 9) = V.block<3, 3>(0, 3);V.block<3, 3>(3, 3) = 0.5 * MatrixXd::Identity(3,3) * _dt;V.block<3, 3>(3, 9) = 0.5 * MatrixXd::Identity(3,3) * _dt;V.block<3, 3>(6, 0) = 0.5 * delta_q.toRotationMatrix() * _dt;V.block<3, 3>(6, 3) = 0.5 * -result_delta_q.toRotationMatrix() * R_a_1_x * _dt * 0.5 * _dt;V.block<3, 3>(6, 6) = 0.5 * result_delta_q.toRotationMatrix() * _dt;V.block<3, 3>(6, 9) = V.block<3, 3>(6, 3);V.block<3, 3>(9, 12) = MatrixXd::Identity(3,3) * _dt;V.block<3, 3>(12, 15) = MatrixXd::Identity(3,3) * _dt;
(左右滑动试试)
离散形式的 PVQ 增量误差的 Jacobian 和协方差
对应代码在integration_base.h文件的midPointIntegration():
jacobian = F * jacobian;covariance = F * covariance * F.transpose() + V * noise * V.transpose();