Upper Stage Visual Inertial Integrated Navigation Method Based on Factor Graph

Abstract In the working process of the upper stage integrated navigation information fusion system, the multi-source navigation information fusion algorithm based on factor graph Bayesian estimation is used to fuse the information of inertial sensors, visual sensors and other sensors. The overall jo...

Full description

Saved in:
Bibliographic Details
Published inJournal of physics. Conference series Vol. 2085; no. 1; pp. 12018 - 12024
Main Authors Wu, Peng, Mu, Rongjun, Liu, Bingli
Format Journal Article
LanguageEnglish
Published IOP Publishing 01.11.2021
Online AccessGet full text

Cover

More Information
Summary:Abstract In the working process of the upper stage integrated navigation information fusion system, the multi-source navigation information fusion algorithm based on factor graph Bayesian estimation is used to fuse the information of inertial sensors, visual sensors and other sensors. The overall joint probability distribution of the system is described in the form of probability graph model with the dependence of local variables, so as to reduce the complexity of the system, adjust the data structure of information fusion to improve the efficiency of information fusion and smoothly switch the sensor configuration.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/2085/1/012018