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State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System

ZHU Zekun YANG Zhong XUE Bayang ZHANG Chi YANG Xin

Transactions of Nanjing University of Aeronautics and Astronautics2024，Vol.41Issue(S01)：P.43-51,9.

Transactions of Nanjing University of Aeronautics and Astronautics2024，Vol.41Issue(S01)：P.43-51,9.DOI:10.16356/j.1005-1120.2024.S.006

State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System

ZHU Zekun ¹YANG Zhong ¹XUE Bayang ¹ZHANG Chi ¹YANG Xin¹

作者信息

1. College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 211106,P.R.China
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摘要

关键词

state estimation/multi-sensor fusion/combined navigation/factor graph optimization/complex environments

分类

航空航天

引用本文复制引用

ZHU Zekun,YANG Zhong,XUE Bayang,ZHANG Chi,YANG Xin..State Estimation Method for GNSS/INS/Visual Multi-sensor Fusion Based on Factor Graph Optimization for Unmanned System[J].Transactions of Nanjing University of Aeronautics and Astronautics,2024,41(S01):P.43-51,9.

基金项目

supported in part by the Guangxi Power Grid Company’s 2023 Science and Technol-ogy Innovation Project(No.GXKJXM20230169)。（No.GXKJXM20230169）

Transactions of Nanjing University of Aeronautics and Astronautics

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ISSN：1005-1120

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