Factor Graph Optimization-Based RTK/INS Integration With Raw Observations for Robust Positioning in Urban Canyons - Li, Zhen; Tao, Jun; Lei, Zhuo; Guo, Jing; Zhao, Qile; Guo, Xiangxin (IEEE transactions on instrumentation and measurement, 2025)
Keywords: Accuracy; Ambiguity; Computational efficiency; Constraints; Efficiency; Estimation; Factor graph optimization (FGO); Global navigation satellite system; global navigation satellite system (GNSS); Inertial navigation; Inertial platforms; Low cost; Navigation systems; Optimization; Performance degradation; Probabilistic models; robust positioning; Robustness; Satellite observation; Satellites; Sliding; Street canyons; tightly coupled RTK/Inertial Navigation System (INS); Uncertainty; urban area; Urban areas; Urban environments; Windows