An Effective GNSS Fault Detection and Exclusion Algorithm for Tightly Coupled GNSS/INS/Vision Integration via Factor Graph Optimization

• Published in: 2022 International Conference on Automation, Robotics and Computer Engineering (ICARCE) pp. 1 - 5
• Main Authors: Jiang, Haitao, Li, Tuan, Shi, Chuang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 16.12.2022
• Subjects: Factor graph optimization; Faults detection and exclusion; GNSS/INS/Vision integration; Positioning accuracy

Pseudorange measurements from GNSS (Global Navigation Satellite System) receivers are seriously affected by multipath in urban environments, which greatly degrades the positioning accuracy and reliability of GNSS/Inertial Navigation System (INS)/Vision integrated system. Fault Detection and Exclusio...