The invention belongs to the technical field of multi-sensor fused navigation and the technical field of time registration, and in particular relates to a dynamic distribution and corrected multi-source
information fusion method based on a
factor graph. The invention aims at the problems that a modern
navigation system is increasingly complex in application environment, discontinuous in working time of sensor and sporadic in measured value, and even has output delays; and a traditional fast federated filtering
algorithm is complex in computation and reduced in accuracy when being applied to
processing a
measurement delay problem. According to the method provided by the invention, a
factor graph probability model is used for re-building a
navigation system, the computation amount is reducedwhile the navigation accuracy is ensured when a measurement type is dynamically changed, the
plug and play property of the
system is improved, aiming at the
measurement delay problem, the retardationof the multiple pieces of sensor information is compensated, and the measurement information usage rate and navigation accuracy are improved. A
simulation result indicates that when the provided
algorithm is used for measuring the value, the better robustness and
fault tolerance are achieved under the condition of intermittence and output
delay, and meanwhile the accuracy is also improved.