A sliding-window least-squares estimation method for the biased velocity observation in the inertial-based integrated navigation systems

2014 ◽  
Author(s):  
Jie Yang ◽  
Wei Tan
Keyword(s):  
Least Squares ◽  
Estimation Method ◽  
Sliding Window ◽  
Least Squares Estimation ◽  
Navigation Systems ◽  
Integrated Navigation

A new visual/inertial integrated navigation algorithm based on sliding-window factor graph optimisation

2020 ◽  
pp. 1-17
Author(s):  
Haiying Liu ◽  
Jingqi Wang ◽  
Jianxin Feng ◽  
Xinyao Wang
Keyword(s):  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Prior Information ◽  
Sliding Window ◽  
Factor Graph ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Sliding Windows ◽  
Navigation Algorithm ◽  
Almost All

Abstract Visual–Inertial Navigation Systems (VINS) plays an important role in many navigation applications. In order to improve the performance of VINS, a new visual/inertial integrated navigation method, named Sliding-Window Factor Graph optimised algorithm with Dynamic prior information (DSWFG), is proposed. To bound computational complexity, the algorithm limits the scale of data operations through sliding windows, and constructs the states to be optimised in the window with factor graph; at the same time, the prior information for sliding windows is set dynamically to maintain interframe constraints and ensure the accuracy of the state estimation after optimisation. First, the dynamic model of vehicle and the observation equation of VINS are introduced. Next, as a contrast, an Invariant Extended Kalman Filter (InEKF) is constructed. Then, the DSWFG algorithm is described in detail. Finally, based on the test data, the comparison experiments of Extended Kalman Filter (EKF), InEKF and DSWFG algorithms in different motion scenes are presented. The results show that the new method can achieve superior accuracy and stability in almost all motion scenes.

scholarly journals Adaptive Covariance Estimation Method for LiDAR-Aided Multi-Sensor Integrated Navigation Systems

Micromachines ◽  
2015 ◽  
Vol 6 (2) ◽  
pp. 196-215 ◽  
Author(s):  
Shifei Liu ◽  
Mohamed Atia ◽  
Yanbin Gao ◽  
Aboelmagd Noureldin
Keyword(s):  
Estimation Method ◽  
Covariance Estimation ◽  
Navigation Systems ◽  
Integrated Navigation
Sign in / Sign up

Export Citation Format

Share Document