Navigation method based on vehicle-mounted factor graph

• Main Authors: SONG LIJUN, YAN YUN, HOU JIAJIE, DING YOUJUN, NI JIAYAO, HE XING, ZHENG PULIANG, REN YUERONG
• Format: Patent
• Language: Chinese; English
• Published: 12.01.2024
• 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 discloses a navigation method based on a vehicle-mounted factor graph and an instant positioning and mapping method based on multi-sensor fusion. The multi-sensor data fusion interacts with a factor graph model, in the factor graph model, the factor graph model can be quickly converted into coordinates, factor graph variable nodes are supplemented, and the real-time positioning and mapping are realized. The problem of information fusion difficulty caused by an asynchronous aperiodic information source is solved, good expansibility is achieved for multiple sensors, and the sensors can be flexibly configured. According to the factor graph method under multi-sensor data fusion, the problem of asynchronous observation time can be effectively solved through the plug-and-play characteristic of a factor graph model, the observation matrix dimensionality is low, the calculation complexity is low, and the numerical stability is higher. Noise and data redundancy which mainly influence a factor graph navig