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Multisource navigation information fusion method based on factor graph

A technology of navigation information and fusion method, which is applied in navigation, surveying and mapping and navigation, navigation computing tools, etc., can solve the problem of few researches on factor graph and multi-source information fusion algorithm, and achieve the effect of improving accuracy and fault tolerance

Inactive Publication Date: 2016-12-07
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

But in general, the current application of factor graphs is mainly concentrated in the field of communication decoding, and there is little research on combining factor graphs with multi-source information fusion algorithms

Method used

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  • Multisource navigation information fusion method based on factor graph
  • Multisource navigation information fusion method based on factor graph
  • Multisource navigation information fusion method based on factor graph

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Embodiment Construction

[0042] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0043] like figure 1 The general process of the present invention is shown as follows: firstly, the trajectory that meets the actual environment and task requirements is obtained through trajectory setting, sensor measurement information is obtained from various sensors, inertial navigation IMU data is obtained from the inertial measurement unit, and multi-source Based on the framework of navigation information fusion, the navigation information is finally obtained through multi-source information filtering and fusion. The whole process of the present invention will be described in detail below.

[0044] 1. In the airborne dynamic environment, design the movement action and trajectory of the carrier according to the actual situation of the carrier, the task requirements and the environment in which it is located.

[0045] Here, an aircraf...

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Abstract

The invention discloses a multisource navigation information fusion method based on a factor graph. The multisource navigation information fusion method comprises the following steps: firstly obtaining a track meeting the actual environment and task requirement by carrying out track setting, obtaining sensor measurement information by virtue of various sensors, obtaining inertial navigation IMU data by virtue of an inertia measurement unit, constructing a multisource navigation information fusion frame by virtue of the factor graph, and finally obtaining navigation information through multisource information filtering fusion. The multisource navigation information fusion method disclosed by the invention has the advantages that the factor graph and a multisource information fusion algorithm are combined together and processing on asynchronous measurement information and requirement on navigation accuracy are realized.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, and in particular relates to a multi-source navigation information fusion method based on a factor graph. Background technique [0002] With the continuous development of science and technology, people have higher and higher requirements for the state estimation accuracy of dynamic carrier moving targets (aircraft, vehicles, ships, etc.), relying on a single sensor for navigation can no longer meet the demand, so a combination of multiple sensors has emerged navigation. Multi-sensor information fusion emerges as the times require, and the information provided by multiple sensors is optimally fused according to a certain fusion criterion to improve the accuracy of state estimation. The development of fusion navigation is based on navigation sensors. In the integrated navigation system, commonly used sensor systems include: inertial navigation system, satellite navigation system, ce...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/20
CPCG01C21/165G01C21/20
Inventor 王慧哲曾庆化刘建业陈维娜岳亚洲谢阳光王云舒孟骞郑华清
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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