FGO-ILNS: Tightly Coupled Multi-Sensor Integrated Navigation System Based on Factor Graph Optimization for Autonomous Underwater Vehicle
22 October 2023
Proposes factor graph optimization framework for underwater vehicle navigation
Achieves tight integration of inertial and acoustic sensors
Handles asynchronous and heterogeneous sensor data
More robust and accurate than Kalman filter methods
Validated through simulations and real-world experiments
Factor graph optimization for underwater vehicle navigation
This paper proposes a factor graph optimization approach for fusing data from multiple sensors to enable accurate navigation and positioning for autonomous underwater vehicles. It tightly couples inertial sensors with acoustic positioning to provide robust and precise state estimation.
No comments yet, be the first to start the conversation...
Sign up to comment on this paper