Intelligent navigation method and device, computer equipment and storage medium

• Main Authors: SONG JIANGBO, ZHU XIANGWEI, HE SHAOFENG, LIU RUOFAN, YI RUITE, LI WANQING
• Format: Patent
• Language: Chinese; English
• Published: 04.08.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention belongs to the technical field of intelligent navigation, and discloses an intelligent navigation method and device, computer equipment and a storage medium, and the method comprises the following steps: constructing a sliding window, defining a sliding window threshold, and constructing an initial variable node and a priori factor node; constructing a first variable node according to the inertia estimation state value at the current moment tk, and constructing a second variable node according to the inertia state prediction value at the next moment tk + 1; constructing a current factor node according to the inertia estimation state value and the inertia state prediction value at the next moment tk + 1; constructing a corresponding additional factor node according to the measurement information of the additional sensor to obtain a to-be-optimized factor graph; and when the number of the variable nodes in the sliding window reaches a sliding window threshold value, optimizing the variable nodes a