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A loosely coupled visual-inertial fusion positioning algorithm based on Extended Kalman Filter (EKF) is proposed, which adopts a visual algorithm for relative pose estimation. It takes a mining vehicle as an observation target to acquire low-frequency and high-precision global coordinates, and then fuses these data with high-frequency global coordinate information from the inertial navigation system (INS). Simulation results show that compared with the INS, the proposed fusion algorithm leads to the average position error reduced from 1.309 m to 0.026 m for rectangular trajectory and from 1.749 m to 0.028 m for serpentine trajectory, indicating a remarkable improvement. Further experiments have verified the feasibility of the proposed algorithm, which provides technical support for cooperative operation of robots under complex deep-sea working conditions.

, authors=Kaile WANG¹, Yangrui CHENG², authorsList=Kaile WANG, Yangrui CHENG, authorCompany=null, correspAuthors=null, authorNote=null, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=null, magXml=null, pdfUrl=null, pdf=null, pdfFileSize=null, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=null, mapNumber=null, fund=null), CN=ArticleExt(id=1314908068547227974, articleId=1314908066131308866, tenantId=1146029695717560320, journalId=1235980550691926019, language=CN, title=基于视觉-惯导融合的伴随式巡检机器人定位方法研究, columnId=1314908041376523179, journalTitle=矿冶工程杂志, columnName=深海矿产资源开发关键技术突破与产业链协同发展专题, runingTitle=null, highlight=null, articleAbstract=

提出一种基于扩展卡尔曼滤波的松耦合视觉-惯导融合定位算法。该算法采用相对位姿估计视觉算法，以采矿车为观测目标来获得低频的精准全局坐标，并与惯性导航系统的高频全局坐标信息进行融合。仿真实验结果表明，相较于惯性导航系统，所提融合算法在矩形轨迹下平均位置误差由1.309 m降至0.026 m，在蛇形轨迹下由1.749 m降至0.028 m，定位精度显著提升。室内实验进一步验证了该算法的工作可行性，可为深海复杂工况下机器人协同作业提供技术支撑。

, authors=王凯乐¹, 程阳锐², authorsList=王凯乐, 程阳锐, authorCompany=null, correspAuthors=null, authorNote=, correspAuthorsNote=null, copyrightStatement=null, copyrightOwner=null, extLink=null, articleAbsUrl=null, sourceXml=tZJoAUh0ZHInYce2PvldKA==, magXml=cd6yPtfJCh5v1DiB4dTY/Q==, pdfUrl=null, pdf=vbQOzgN00sbYdEzTwO1YvQ==, pdfFileSize=4222397, pdfExtLink=null, richHtmlUrl=null, mobilePdfUrl=null, reviewReport=null, pdfFirstPage=null, abstractGraph=null, abstractGraphContent=null, abstractVideo=null, citation=null, cebUrl=null, magXmlContent=pLnWH9KOoB0DLqqgdMV8cg==, mapNumber=null, fund=null)}, authors=[Author(id=1314908069822296399, tenantId=1146029695717560320, journalId=1235980550691926019, articleId=1314908066131308866, orderNo=0, firstName=null, middleName=null, lastName=null, nameCn=null, orcid=null, stid=null, country=null, authorPic=null, dead=0, email=13206502735@163.com, emailSecond=null, emailThird=null, correspondingAuthor=0, authorType=1, ext={EN=AuthorExt(id=1314908069889405265, tenantId=1146029695717560320, journalId=1235980550691926019, articleId=1314908066131308866, authorId=1314908069822296399, language=EN, stringName=Kaile WANG, firstName=Kaile, middleName=null, lastName=WANG, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1.School of Mechanical and Electrical Engineering, Central South University, Changsha 410083, Hunan, China, bio=null, bioImg=null, bioContent=null, aboutCorrespAuthor=null), CN=AuthorExt(id=1314908070187200850, tenantId=1146029695717560320, journalId=1235980550691926019, articleId=1314908066131308866, authorId=1314908069822296399, language=CN, stringName=王凯乐, firstName=null, middleName=null, lastName=null, prefix=null, suffix=null, authorComment=null, nameInitials=null, affiliation=null, department=null, xref=¹, address=^1．中南大学 机电工程学院，湖南 长沙 410083, bio={"content":"

王凯乐（2000—），男，河南商丘人，硕士研究生，主要研究方向为水下机器人控制。E-mail: 13206502735@163.com

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王凯乐（2000—），男，河南商丘人，硕士研究生，主要研究方向为水下机器人控制。E-mail: 13206502735@163.com

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