| 引用本文: | 潘献飞,宁治文,王茂松,吴文启,吴美平.基于因子图的导航定位技术应用分析与思考[J].控制理论与应用,2023,40(12):2130~2141.[点击复制] |
| PAN Xian-fei,NING Zhi-wen,WANG Mao-song,WU Wen-qi,WU Mei-ping.Analysis and reflection on the navigation and positioning application based on factor graph[J].Control Theory and Technology,2023,40(12):2130~2141.[点击复制] |
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| 基于因子图的导航定位技术应用分析与思考 |
| Analysis and reflection on the navigation and positioning application based on factor graph |
| 摘要点击 1320 全文点击 404 投稿时间：2023-05-08 修订日期：2023-12-06 |
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| DOI编号 10.7641/CTA.2023.30309 |
| 2023,40(12):2130-2141 |
| 中文关键词 导航定位 因子图 概率推断 信息融合 SLAM |
| 英文关键词 navigation and positioning factor graph probability inference information fusion SLAM |
| 基金项目 国家自然科学基金项目(62203455)资助. |
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| 中文摘要 |
| 不同于传统滤波方法, 因子图为传统的导航信息融合计算提供了另一种解决途径, 成为近年来的研究热点.
本文对因子图方法在导航定位领域的应用进行了梳理, 分析了因子图模型的数学推导方法, 在此基础上阐述了基于
因子图的定位与多传感器组合导航方法, 详细分析了因子图在同时定位与建图(SLAM), 全球卫星导航系统(GNSS),
协同定位、组合导航以及故障检测领域的应用现状, 给出了相关模型, 并指出了现有方法的局限性. 最后, 文章进行
了总结与讨论, 为因子图方法进一步的深入研究提供了一些建议. |
| 英文摘要 |
| Different from the traditional filtering methods, factor graph provides another solution for the traditional
navigation information fusion calculation, and has become a research hot-spot in recent years. This paper combs the
application of factor graph method in the field of navigation and positioning. We analyze the mathematical derivation
method of factor graph model, and on this basis, we describe the method of location and multi-sensor integrated navigation
based on factor graph. Then we analyze the application status of factor graph in the fields of SLAM, GNSS, cooperative
positioning, integrated navigation and fault detection in detail, give the relevant models, and point out the limitations of the
existing methods. Finally, we make a summary and discussion, and provide some suggestions for the further study of factor
graph method. |
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