Sep 27, 2021 · In this paper, an improved preintegration method for GNSS/IMU/in-vehicle sensors navigation using graph optimization is proposed.

Based on GNSS position and kinematic model of the land vehicle, the total parameters of in-vehicle sensors can be estimated using graph optimization.

In this paper, an improved preintegration method for GNSS/IMU/in-vehicle sensors navigation using graph optimization is proposed. Different from current methods ...

Compared with the traditional factor graph integrated navigation algorithm, the positioning accuracy of the proposed preintegration method is improved by ...

This paper proposes a graph optimization-based GNSS/IMU model with virtual constraints. These virtual constraints in the graph model are derived from the ...

In this paper, an improved preintegration method for GNSS/IMU/in-vehicle sensors navigation using graph optimization is proposed. Different from current methods ...

The odometer information is introduced in the pre-integration algorithm to mitigate the large drift rate of the IMU. The sliding window method was also adopted ...

Aug 26, 2022 · This paper implemented the FGO method based on GNSS/INS/NHC/Odometer integration. In the FGO, state transformation, measurement model, the NHC, and the ...

Dec 21, 2023 · Recently, GNSS/IMU integration using optimization methods has also been studied [16]–[20]. In [17], [19], a method for integrating GNSS ...

This study constructs a refined IMU preintegration model that incorporates the Earth's rotation, and analytically compute the covariance and Jacobian matrix.