Multi-source fusion navigation method based on factor graph and observability analysis

A technology that integrates navigation and factor graphs. It is used in mapping and navigation, navigation through velocity/acceleration measurement, and navigation. It can solve problems that affect the accuracy and reliability of inertial-based integrated navigation systems, and short-term or long-term sensor failures. Achieve the effect of self-adaptive fusion and safe and reliable navigation and positioning

Active Publication Date: 2020-10-16
NANJING UNIV OF SCI & TECH
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Problems solved by technology

[0004] Due to many uncertain factors in complex environments (such as rain and snow, urban canyons, tunnels, underground or indoor parking lots, etc.), the sensor has short-term or long-term failure problems, which seriously affects the accuracy and reliability of the inertial-based integrated navigation system.

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  • Multi-source fusion navigation method based on factor graph and observability analysis
  • Multi-source fusion navigation method based on factor graph and observability analysis
  • Multi-source fusion navigation method based on factor graph and observability analysis

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Embodiment

[0062] combine figure 1 , the present invention designs a cross-scenario multi-source fusion navigation system to actively adapt to complex dynamic scene changes. First, construct the Kalman sub-filter for integrated navigation of inertial / satellite, inertial / vision, etc., optimize the filtering algorithm and reduce the influence of uncertain factors by designing an adaptive and robust Kalman filtering algorithm; then, based on the dynamic time-varying system The observability analysis of integrated navigation factors such as inertial / satellite and inertial / vision is measured online; finally, the incremental factor atlas fusion architecture is used to construct the reliability of each inertial-based integrated navigation factor (subsystem). The trust factor is constructed with active optimization factors to realize multi-sensor adaptive fusion navigation and real-time precise positioning.

[0063] combine figure 2 , first obtain the measurement information of the sensor, ba...

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Abstract

The invention discloses a multi-source fusion navigation method based on a factor graph and observability analysis. The method comprises the following steps: constructing a multi-source integrated navigation system based on an inertial navigation / auxiliary sensor integrated navigation model to obtain an integrated navigation robust Kalman sub-filter taking inertial navigation as a core and takingtwo or more than two of satellites, vision and odometers as auxiliary sensors; based on the navigation calculation result of each integrated navigation robust Kalman sub-filter, measuring the observability degree of the state variable of each integrated navigation robust Kalman sub-filter; using an incremental factor graph architecture, selecting an optimal factor online to participate in fusion according to credibility evaluation of multi-source integrated navigation factors, and automatically adjusting the weight of information distribution so that cross-scene multi-source fusion navigationis realized. According to the invention, adaptive fusion and safe and reliable navigation positioning of multiple sensors can be realized, and the precision and reliability of multi-source navigationinformation fusion of inertia / satellite / vision and the like are improved.

Description

technical field [0001] The invention relates to the technical field of combined navigation and multi-source information fusion, in particular to a multi-source fusion navigation method based on factor graph and observability analysis. [0002] technical background [0003] At present, multi-source fusion navigation has become the focus and research hotspot of academia and industry. It has broad application prospects in fields such as automatic driving and deep space exploration, and promotes intelligent transportation, emergency rescue, intelligent security, national defense and military affairs. field development. In order to ensure the high precision, robustness and reliability of multi-source fusion navigation system navigation and positioning, it is necessary to make comprehensive use of inertial navigation system (Inertial Navigation System, INS) and global satellite navigation system (Global Navigation Satellite System, GNSS) receivers, mileage Auxiliary sensors such a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20G01S19/49
CPCG01C21/165G01C21/20G01S19/49
Inventor 朱建良左思琪
Owner NANJING UNIV OF SCI & TECH
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