Integrated Navigation Based on Graph Optimization Method and Its Feasibility

ZHU Xiao-han; CHEN Shuai; JIANG Chang-hui; ZHANG Bo-ya; HAN Lin

doi:10.3969/j.issn.1671-637x.2019.04.013

[3] GREWAL M S,WEILL L R,ANDREWS A.Global positioning systems,inertial navigation,and integration［M］.New York:John Wiley & Sons,2007.

[4] SMITH D,SINGH S.Approaches to multisensor data fusion in target tracking:a survey［J］.IEEE Transactions on Knowledge & Data Engineering,2006,18(12):1696-1710.

[7] KUMMERLE R,GRISETTI G,STRASDAT H,et al.G2o:a general framework for graph optimization［C］//IEEE International Conference on Robotics and Automation, 2011:3607-3613.

[8] WANG Y,LI X.Graph-optimization-based ZUPT/UWB fusion algorithm［J］.International Journal of Geo-Information,2018,7(1):18-40.

[9] KSCHISCHANG F R,FREY B J,LOELIGER H A.Factor graphs and the sum-product algorithm［J］.IEEE Transactions on Information Theory,2001,47(2):498-519.

[10] TA D N,KOBILAROV M,DELLAERT F.A factor graph approach to estimation and model predictive control on unmanned aerial vehicles［C］//International Conference on Unmanned Aircraft Systems,2014:181-188.

[12] CHIU H P,WILLIAMS S,DELLAERT F,et al.Robust vision-aided navigation using sliding-window factor graphs［C］//IEEE International Conference on Robotics & Automation,2013:46-53.

[13] FALLON M F,KAESS M,JOHANNSSON H,et al.Efficient AUV navigation fusing acoustic ranging and side-scan sonar［C］//Proceedings of IEEE International Conference on Robotics and Automation,2011:2398-2405.

[14] GRISETTI G,KUMMERLE R,STACHNISS C,et al.A tutorial on graph-based SLAM［J］.IEEE Intelligent Transportation Systems Magazine,2010,2(4):31-43.