Open AccessUpper Stage Visual Inertial Integrated Navigation Method Based on Factor Graph
Author(s) -
Wu Ping,
Rongjun Mu,
Bingli Liu
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2085/1/012018
Subject(s) - factor graph , fuse (electrical) , sensor fusion , computer science , graph , fusion , process (computing) , inertial navigation system , inertial frame of reference , artificial intelligence , information fusion , bayesian probability , computer vision , data mining , algorithm , engineering , theoretical computer science , linguistics , philosophy , decoding methods , physics , quantum mechanics , electrical engineering , operating system
In the working process of the upper stage integrated navigation information fusion system, the multi-source navigation information fusion algorithm based on factor graph Bayesian estimation is used to fuse the information of inertial sensors, visual sensors and other sensors. The overall joint probability distribution of the system is described in the form of probability graph model with the dependence of local variables, so as to reduce the complexity of the system, adjust the data structure of information fusion to improve the efficiency of information fusion and smoothly switch the sensor configuration.