Analysis and reflection on the navigation and positioning application based on factor graph
PAN Xian-fei
NING Zhi-wen
WANG Mao-song
WU Wen-qi
WU Mei-ping
Abstract：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.
Keywords：navigation and positioningfactor graphprobability inferenceinformation fusionSLAM
Publication Date：2023-12-28
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：12( 2130-2141 )