Abstract: A functional iterative integration-based method for an inertial navigation solution includes: fitting a Chebyshev polynomial function of an angular velocity and a Chebyshev polynomial function of a specific force according to gyroscope-measured values and accelerometer-measured values on a time interval; iteratively calculating Chebyshev polynomial coefficients of an attitude quaternion by using the obtained Chebyshev polynomial coefficients of the angular velocity and an integral equation of the attitude quaternion, and performing polynomial truncation on a result obtained from each iterative calculation according to a preset order; iteratively calculating Chebyshev polynomial coefficients of a velocity/position by using the obtained Chebyshev polynomial coefficients of the specific force, the Chebyshev polynomial coefficients of the attitude quaternion and an integral equation of the velocity/position, and performing polynomial truncation on a result obtained from each iterative calculation according to a p

Abstract: A pure pose solution method and system for a multi-view camera pose and scene are provided. The method includes: a pure rotation recognition (PRR) step: performing PRR on all views, and marking views having a pure rotation abnormality, to obtain marked views and non-marked views; a global translation linear (GTL) calculation step: selecting one of the non-marked views as a reference view, constructing a constraint tr=0, constructing a GTL constraint, solving a global translation (I), reconstructing a global translation of the marked views according to tr and (I), and screening out a correct solution of the global translation; and a structure analytical reconstruction (SAR) step: performing analytical reconstruction on coordinates of all 3D points according to a correct solution of a global pose. The method and system can greatly improve the computational efficiency and robustness of the multi-view camera pose and scene structure reconstruction.

Abstract: A method for solving rigid body attitude based on functional iterative integration includes: fitting a Chebyshev polynomial function for an angular velocity according to gyro measurement values in a time interval; iteratively calculating a Chebyshev polynomial coefficient for a Rodrigues vector by using the obtained Chebyshev polynomial coefficient for the angular velocity and a Rodrigues vector integral equation, and performing polynomial truncation on the result at each iterative calculation according to a preset order; and calculating the Rodrigues vector according to the Chebyshev polynomial coefficient for the Rodrigues vector and the corresponding Chebyshev polynomial, so as to obtain attitude profile in the time interval in a form of a quaternion. A system for solving rigid body attitude based on functional iterative integration includes a fitting module, an iterating module, and an attitude computation module.

Abstract: The present disclosure provides a system and a method for solving an attitude of a rigid body based on function iterative integration, including: step 1, fitting a polynomial function of an angular velocity according to a gyroscope measurement value over a time interval; step 2, iteratively calculating a Rodrigues vector by using the fitted polynomial function of the angular velocity and a Rodrigues vector integral equation; and Step 3, and obtaining an attitude change over the time interval in terms of quaternion according to the final iterative result of the Rodrigues vector.

Abstract: A method for solving rigid body attitude based on functional iterative integration includes: fitting a Chebyshev polynomial function for an angular velocity according to gyro measurement values in a time interval; iteratively calculating a Chebyshev polynomial coefficient for a Rodrigues vector by using the obtained Chebyshev polynomial coefficient for the angular velocity and a Rodrigues vector integral equation, and performing polynomial truncation on the result at each iterative calculation according to a preset order; and calculating the Rodrigues vector according to the Chebyshev polynomial coefficient for the Rodrigues vector and the corresponding Chebyshev polynomial, so as to obtain attitude profile in the time interval in a form of quaternion. A system for solving rigid body attitude based on functional iterative integration includes a fitting module, an iterating module, and an attitude computation module.

Abstract: A functional iterative integration-based method for an inertial navigation solution includes: fitting a Chebyshev polynomial function of an angular velocity and a Chebyshev polynomial function of a specific force according to gyroscope-measured values and accelerometer-measured values on a time interval; iteratively calculating Chebyshev polynomial coefficients of an attitude quaternion by using the obtained Chebyshev polynomial coefficients of the angular velocity and an integral equation of the attitude quaternion, and performing polynomial truncation on a result obtained from each iterative calculation according to a preset order; iteratively calculating Chebyshev polynomial coefficients of a velocity/position by using the obtained Chebyshev polynomial coefficients of the specific force, the Chebyshev polynomial coefficients of the attitude quaternion and an integral equation of the velocity/position, and performing polynomial truncation on a result obtained from each iterative calculation according to a p

Abstract: The present disclosure provides a method for solving an attitude of a rigid body based on function iterative integration, including: step 1, fitting a polynomial function of an angular velocity according to a gyroscope measurement value over a time interval; step 2, iteratively calculating a Rodrigues vector by using the fitted polynomial function of the angular velocity and a Rodrigues vector integral equation; and Step 3, and obtaining an attitude change over the time interval in terms of quaternion according to the final iterative result of the Rodrigues vector.