A Multi-Sensor Information Fusion Method Based on Factor Graph for Integrated Navigation System
نویسندگان
چکیده
The current navigation systems used in many autonomous mobile robotic applications, like unmanned vehicles, are always equipped with various sensors to get accurate results. key point is fuse the information from different efficiently. However, provide asynchronous measurements, some of which even appear be nonlinear. Moreover, vulnerable specific environments, e.g., GPS signal likely work poorly interior space, underground, and tall buildings. We propose a multi-sensor fusion method based on factor graph all available sensor efficiently accurately calculate solution. Assuming measurements states system as nodes variable graph, respectively, update can implemented framework graph. proposed experimentally validated using two datasets. A comparison Federated Filter, has been widely integrated systems, demonstrates method’s effectiveness. Additionally, analyzing results data loss verifies that could achieve plug play software.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2021
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2021.3051715