An improved integrated navigation method with enhanced robustness based on factor graph

Abstract

To improve the navigation performance and robustness of integrated navigation algorithm based on factor graph under the condition that the performance of each sensor changes and the output is abnormal in the actual complex navigation environment, an improved factor graph method based on enhanced robustness is proposed. Taking the INS / GPS / OD integrated navigation system as the research object, on the basis of fully considering the key parameters of each sensor in the integrated navigation system, the INS / GPS / OD factor graph model is constructed by using factor graph technology, and designing a dynamic weight function to adjust the weight of each factor reasonably and dynamically, thereby improving the navigation performance and robustness of factor graph algorithm. Field test data are collected to evaluate the proposed method, the results showed that compared with the integrated navigation method based on extended Kalman filter and the existing integrated navigation method based on factor graph, the proposed method has better robustness and performance, navigation accuracy increased by more than 40%.