Multi-source heterogeneous information fusion algorithm for autonomous navigation based on factor graph

Home > Archive>Volume 44, Issue 1, 2021 >130-134

Multi-source heterogeneous information fusion algorithm for autonomous navigation based on factor graph
DOI:
                        
                    
CSTR:
                        
                    
Author:
                        Yao Zuwei1Yao Zuwei
Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Post and Telecommunications, Chongqing 400065, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site
Liu Yu1Liu Yu
Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Post and Telecommunications, Chongqing 400065, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site
Guo Junqi1Guo Junqi
Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Post and Telecommunications, Chongqing 400065, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site
Ou Yi2Ou Yi
Institute of Microelectronics of the Chinese Academy of Sciences, Beijing 100029, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site
Zou Xinhai1Zou Xinhai
Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Post and Telecommunications, Chongqing 400065, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site
Kang Pengchuan1Kang Pengchuan
Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Post and Telecommunications, Chongqing 400065, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site
Gou Zhiping3Gou Zhiping
The 26th Institute of China Electronics Technology Group Corporation, Chongqing 400060, China
Find this author on All Journals
Find this author on BaiDu
Search for this author on this site

                    
Affiliation:1. Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Post and Telecommunications, Chongqing 400065, China; 2. Institute of Microelectronics of the Chinese Academy of Sciences, Beijing 100029, China; 3.The 26th Institute of China Electronics Technology Group Corporation, Chongqing 400060, China
Clc Number:TP391
Fund Project:

Article

Figures

Metrics

Reference

Cited by

Materials

Comments

Abstract:

In order to solve the long endurance cumulative error and real-time problem of inertial navigation system, a multi-source information fusion algorithm based on factor graph is proposed. Based on sum product algorithm, the factor graph model is used to estimate the state based on the maximum a posteriori probability, the mean and variance of variables are calculated to complete data fusion, and the UWB technology and vision sensor are used to calibrate the inertial navigation system with accumulated error to complete error correction. The simulation results show that the error of each axis is 0.36% and 0.31% respectively, and the solution time is 50ms. The error of this algorithm is only one third of the cumulative error of inertial navigation, and its real-time performance is better than other algorithms.

Key words:real time; autonomous navigation; sum product algorithm; factor graph; information fusion

Get Citation

Copy

Article Metrics

Abstract:
PDF:
HTML:
Cited by:

History

Received:
Revised:
Adopted:
Online: December 31,2024
Published:

Home

Introduction

Editorial Committee

Policy

Contact Us

中文版

Get Citation

Share

Article Metrics

History

Article QR Code