Factor Graph with Local Constraints: A Magnetic Field/Pedestrian Dead Reckoning Integrated Navigation Method Based on a Constrained Factor Graph
Zehua Li,
Junna Shang,
Huli Shi
Abstract:The method of multi-sensor integrated navigation improves navigation accuracy by fusing various sensor data. However, when a sensor is disturbed or malfunctions, incorrect measurement information will seriously affect the estimation of the trajectory, which will lead to a decrease in accuracy. Existing factor graph models based on weights can neither fully resist the influence of disturbances nor guarantee the local rationality of estimated trajectories. In this paper, a factor graph with local constraints mod… Show more
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