Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph

Xiao Kai Wei; Jie Li; Kai Qiang Feng; De Biao Zhang; Zheng Long Lu; Jin Qiang Li

doi:10.1109/ICUS48101.2019.8996008

Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph

Xiao Kai Wei, Jie Li, Kai Qiang Feng, De Biao Zhang, Zheng Long Lu, Jin Qiang Li

North University of China

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this paper, an Inertial navigation system (INS)/Odometer (OD) integrated navigation algorithm based on factor graph is proposed for the vehicle integrated navigation system composed of inertial navigation system and odometer. The factor graph method is used to model the inertial navigation system and odometer, and the factor graph model of INS/OD integrated navigation system is constructed.The key parameters of the inertial sensors and the scale factor of the odometer are estimated and fed back in real time to correct the information of the inertial navigation system and odometer.At the same time, aiming at the problem that the accuracy of the integrated navigation system is degraded due to the abnormality of the odometer measurement information in complex road conditions, a fault detection and isolation method based on factor graph is proposed.The test results show that the proposed method can output higher precision navigation results continuously and steadily compared with the traditional loose integrated navigation algorithm, and can be well adapted to vehicular navigation under complex and harsh road conditions.

Original language	English
Title of host publication	Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	216-220
Number of pages	5
ISBN (Electronic)	9781728137926
DOIs	https://doi.org/10.1109/ICUS48101.2019.8996008
Publication status	Published - Oct 2019
Externally published	Yes
Event	2019 IEEE International Conference on Unmanned Systems, ICUS 2019 - Beijing, China Duration: 17 Oct 2019 → 19 Oct 2019

Publication series

Name	Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

Conference

Conference	2019 IEEE International Conference on Unmanned Systems, ICUS 2019
Country/Territory	China
City	Beijing
Period	17/10/19 → 19/10/19

Keywords

factor graph
fault detection
inertial navigation system
information fusion
integrated navigation

Access to Document

10.1109/ICUS48101.2019.8996008

Cite this

Wei, X. K., Li, J., Feng, K. Q., Zhang, D. B., Lu, Z. L., & Li, J. Q. (2019). Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph. In Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 (pp. 216-220). Article 8996008 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICUS48101.2019.8996008

Wei, Xiao Kai ; Li, Jie ; Feng, Kai Qiang et al. / Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph. Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 216-220 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019).

@inproceedings{2950c9afe76b495c95b032c31eefb8d6,

title = "Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph",

abstract = "In this paper, an Inertial navigation system (INS)/Odometer (OD) integrated navigation algorithm based on factor graph is proposed for the vehicle integrated navigation system composed of inertial navigation system and odometer. The factor graph method is used to model the inertial navigation system and odometer, and the factor graph model of INS/OD integrated navigation system is constructed.The key parameters of the inertial sensors and the scale factor of the odometer are estimated and fed back in real time to correct the information of the inertial navigation system and odometer.At the same time, aiming at the problem that the accuracy of the integrated navigation system is degraded due to the abnormality of the odometer measurement information in complex road conditions, a fault detection and isolation method based on factor graph is proposed.The test results show that the proposed method can output higher precision navigation results continuously and steadily compared with the traditional loose integrated navigation algorithm, and can be well adapted to vehicular navigation under complex and harsh road conditions.",

keywords = "factor graph, fault detection, inertial navigation system, information fusion, integrated navigation",

author = "Wei, {Xiao Kai} and Jie Li and Feng, {Kai Qiang} and Zhang, {De Biao} and Lu, {Zheng Long} and Li, {Jin Qiang}",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Unmanned Systems, ICUS 2019 ; Conference date: 17-10-2019 Through 19-10-2019",

year = "2019",

month = oct,

doi = "10.1109/ICUS48101.2019.8996008",

language = "English",

series = "Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "216--220",

booktitle = "Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019",

address = "United States",

}

Wei, XK, Li, J, Feng, KQ, Zhang, DB, Lu, ZL & Li, JQ 2019, Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph. in Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019., 8996008, Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019, Institute of Electrical and Electronics Engineers Inc., pp. 216-220, 2019 IEEE International Conference on Unmanned Systems, ICUS 2019, Beijing, China, 17/10/19. https://doi.org/10.1109/ICUS48101.2019.8996008

Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph. / Wei, Xiao Kai; Li, Jie; Feng, Kai Qiang et al.
Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 216-220 8996008 (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph

AU - Wei, Xiao Kai

AU - Li, Jie

AU - Feng, Kai Qiang

AU - Zhang, De Biao

AU - Lu, Zheng Long

AU - Li, Jin Qiang

PY - 2019/10

Y1 - 2019/10

N2 - In this paper, an Inertial navigation system (INS)/Odometer (OD) integrated navigation algorithm based on factor graph is proposed for the vehicle integrated navigation system composed of inertial navigation system and odometer. The factor graph method is used to model the inertial navigation system and odometer, and the factor graph model of INS/OD integrated navigation system is constructed.The key parameters of the inertial sensors and the scale factor of the odometer are estimated and fed back in real time to correct the information of the inertial navigation system and odometer.At the same time, aiming at the problem that the accuracy of the integrated navigation system is degraded due to the abnormality of the odometer measurement information in complex road conditions, a fault detection and isolation method based on factor graph is proposed.The test results show that the proposed method can output higher precision navigation results continuously and steadily compared with the traditional loose integrated navigation algorithm, and can be well adapted to vehicular navigation under complex and harsh road conditions.

AB - In this paper, an Inertial navigation system (INS)/Odometer (OD) integrated navigation algorithm based on factor graph is proposed for the vehicle integrated navigation system composed of inertial navigation system and odometer. The factor graph method is used to model the inertial navigation system and odometer, and the factor graph model of INS/OD integrated navigation system is constructed.The key parameters of the inertial sensors and the scale factor of the odometer are estimated and fed back in real time to correct the information of the inertial navigation system and odometer.At the same time, aiming at the problem that the accuracy of the integrated navigation system is degraded due to the abnormality of the odometer measurement information in complex road conditions, a fault detection and isolation method based on factor graph is proposed.The test results show that the proposed method can output higher precision navigation results continuously and steadily compared with the traditional loose integrated navigation algorithm, and can be well adapted to vehicular navigation under complex and harsh road conditions.

KW - factor graph

KW - fault detection

KW - inertial navigation system

KW - information fusion

KW - integrated navigation

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DO - 10.1109/ICUS48101.2019.8996008

M3 - Conference contribution

AN - SCOPUS:85080946987

T3 - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

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BT - Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2019 IEEE International Conference on Unmanned Systems, ICUS 2019

Y2 - 17 October 2019 through 19 October 2019

ER -

Wei XK, Li J, Feng KQ, Zhang DB, Lu ZL, Li JQ. Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph. In Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 216-220. 8996008. (Proceedings of the 2019 IEEE International Conference on Unmanned Systems, ICUS 2019). doi: 10.1109/ICUS48101.2019.8996008

Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph

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