Analysis and reflection on the navigation and positioning application based on factor graph

被引：0
|
作者：
Pan X.-F. [1 ]
Ning Z.-W. [1 ]
Wang M.-S. [1 ]
Wu W.-Q. [1 ]
Wu M.-P. [1 ]
机构：
[1] College of Intelligence Science and Technology, National University of Defense Technology, Changsha
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2023年 / 40卷 / 12期
基金：
中国国家自然科学基金;
关键词：
factor graph; information fusion; navigation and positioning; probability inference; SLAM;
D O I：
10.7641/CTA.2023.30309
中图分类号：
学科分类号：
摘要：
Different from the traditional filtering methods, factor graph provides another solution for the traditional navigation information fusion calculation, and has become a research hot-spot in recent years. This paper combs the application of factor graph method in the field of navigation and positioning. We analyze the mathematical derivation method of factor graph model, and on this basis, we describe the method of location and multi-sensor integrated navigation based on factor graph. Then we analyze the application status of factor graph in the fields of SLAM, GNSS, cooperative positioning, integrated navigation and fault detection in detail, give the relevant models, and point out the limitations of the existing methods. Finally, we make a summary and discussion, and provide some suggestions for the further study of factor graph method. © 2023 South China University of Technology. All rights reserved.
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收藏
页码：2130 / 2141
页数：11
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