An Integrated Navigation Algorithm of RIMU/GNSS Based on Factor Graph
In order to solve the problem that the filtering result of RIMU/GNSS integrated navigation sys-tem based on filtering method is unstable under the condition of large maneuvering of carrier,an estimation method based on factor graph is proposed.The state equation and measurement equation oriented to the re-dundant inertial navigation system are established,and the redundant inertial data are fused into the carri-er coordinate system three axes.A data fusion method based on factor graph is established,and the fused inertial data and satellite information are abstracted as factor nodes,and the state information is abstracted as variable nodes.The cost function including inertia factor and GNSS factor is established and the state quantity is estimated in a nonlinear optimization way.The reslult of numerical simulation shows that per-formance of using the factor graph method can effectively reduce the position error of the carrier and the root mean square error is obviously degraded than that of the Kalman filter.
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