.png){kind=icon}
返回
UAV Localization Algorithm Based on Factor Graph Optimization in Complex Scenes
.png){kind=icon}
OA
AI
DOI：10.3390/s22155862.png)
.png){kind=icon}
.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
With the increasingly widespread application of UAV intelligence, the need for autonomous navigation and positioning is becoming more and more important. To solve the problem that UAV cannot perform localization in complex scenes, a new multi-source fusion framework factor graph optimization algorithm is used for UAV localization state estimation in this paper, which is based on IMU/GNSS/VO multi-source sensors. Based on the factor graph model and the iSAM incremental inference algorithm, a multi-source fusion model of IMU/GNSS/VO is established, including the IMU pre-integration factor, IMU bias factor, GNSS factor, and VO factor. Mathematical simulations and validations on the EuRoC dataset show that, when the selected sliding window size is 30, the factor graph optimization (FGO) algorithm can not only meet the requirements of real time and accuracy at the same time, but it also achieves a plug-and-play function in the event of local sensor failures. Finally, compared with the traditional federated Kalman algorithm and the adaptive federated Kalman algorithm, the positioning accuracy of the FGO algorithm in this paper is improved by 1.5-2-fold, and can effectively improve autonomous navigation system robustness and flexibility in complex scenarios. Moreover, the multi-source fusion framework in this paper is a general algorithm framework that can satisfy other scenarios and other types of sensor combinations.
Keyword:
UAV
multi-source fusion
factor graph optimization
robustness
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
3.5
论文数:
7.2W
被引数:
20.9W
机构
引用论文
Crystal Structures of Human Prostatic Acid Phosphatase in Complex with a Phosphate Ion and α-Benzylaminobenzylphosphonic Acid Update the Mechanistic Picture and Offer New Insights into Inhibitor Design,.png)
Biochemistry
BiochemistryIF0
PREAI
分享收藏An improved integrated navigation method with enhanced robustness based on factor graph一种基于因子图的增强鲁棒性的改进组合导航方法
PREAI
分享收藏Factor graph based navigation and positioning for control system design: A review用于控制系统设计的基于因子图的导航和定位: 综述OAAI
OAAI分享收藏A Multi-Sensor Information Fusion Method Based on Factor Graph for Integrated Navigation System基于因子图的组合导航系统多传感器信息融合方法IEEE ACCESSOAAI
IEEE ACCESSIF3.6
OAAI分享收藏
查看更多内容