UDC 681.513.3
EVALUATION OF THE DETERMINATION ERROR OF ANGULAR COORDINATES OF AN OBJECT WITH TWO REFERENCE POINTS
I. S. Kholopov, Ph.D. (Tech.), Dean of the radio engineering and telecommunications faculty, RSREU, Ryazan Russia;
orcid.org/0000-0001-5220-0811, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
A. I. Kalinkin, post-graduate student, RSREU, Ryazan, Russia;
orcid.org/0000-0003-0720-4850, e-mail: This email address is being protected from spambots. You need JavaScript enabled to view it.
The solution of the problem of determining the angular and spatial coordinates of an object with two reference emitters located on it according to information from one camera and an inertial measuring unit is considered. The aim of the work is to derive an analytical expression for the error of determining the angular coordinates. The geometrical formulation and solution of the Perspective-2-Point problem are described using a priori data on the camera position in the horizon plane. The results of simulation modeling of the pixel coordinates estimation error influence of the repers projections in the image plane on the error in determining the angular coordinates of an object are presented. It is shown that when the root mean square error of estimating pixel coordinates is no more than 0,5 pixels, the mean square error of yaw estimation when solving a Perspective-2-Point problem is no more than 1,2°.
Key words: optical navigation, P2P problem, projective camera, inertial measuring unit.