Factor graph integrated navigation method based on high-precision inertial pre-integration

Abstract

The invention discloses a factor graph integrated navigation method based on high-precision inertial pre-integration, which comprises the following steps of modeling the earth rotation angular rate and the influence of the rotation angular rate of a navigation system and an earth coordinate system caused by carrier motion into a traditional inertial pre-integration model, simultaneously considering the influence of an earth reference ellipsoid, and calculating to obtain a high-precision inertia pre-integration error transfer equation. On the basis, navigation information output by the IMU is fused with navigation information provided by other measurement sensors through an optimization theory based on a factor graph model. Optimization solution is then carried out to obtain the navigation information of the carrier. The method can effectively solve the problem that the precision of the navigation system is reduced due to the fact that a traditional factor graph integrated navigation system based on an inertia pre-integration method is inaccurate in modeling of inertia output information, and can be applied to various factor graph integrated navigation systems based on high-precision inertial devices.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to a factor graph integrated navigation method based on high-precision inertial pre-integration. Background technique [0002] The factor graph algorithm can simultaneously use multiple measurement information at historical times to estimate the navigation state of the carrier at the current moment, so as to obtain the navigation information of the carrier. Traditional factor graph algorithms ignore the sensitive characteristics of high-precision inertial devices, and are mainly oriented to multi-source information fusion integrated navigation systems based on low-precision inertial navigation devices. However, similar to the completely closed environment under the coal mine, its complex electromagnetic interference and no obvious environmental characteristics reduce the adaptability of some navigation sensors such as lidar and vision, and it is necessary t...

AI Technical Summary

Problems solved by technology

However, the traditional inertial pre-integration method ignores the angular rate of the earth's rotation and the rotational angular rate of the navigation system and the earth coordinate system brought about by the motion of the carrier, resulting in a decrease in the accuracy of the pre-integration model and a decrease in the accuracy of the carrier navigation information solved by pre-integration

At the same time, the traditional inertial pre-integration method models the earth's horizontal plane as a plane, ignoring the influence of the earth's reference ellipsoid on the navigation system during the carrier's operation, resulting in the reduction of long-duration navigation accuracy

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