Content area

Abstract

Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM) capability is required when FGO-based integrated navigation system is used for safety-critical applications. However, traditional researches on IM of integrated navigation system are mostly based on Kalman filter. It is urgent to develop effective IM scheme for FGO-based GNSS/INS/Vision integration. In this contribution, the position error bounding formula to ensure the integrity of the GNSS/INS/Vision integration based on FGO is designed and validated for the first time. It can be calculated by the linearized equations from the residuals of GNSS pseudo-range, IMU pre-integration and visual measurements. The specific position error bounding is given in the case of GNSS, INS and visual measurement faults. Field experiments were conducted to evaluate and validate the performance of the proposed position error bounding. Experimental results demonstrate that the proposed position error bounding for the GNSS/INS/Vision integration based on FGO can correctly fit the position error against different fault modes, and the availability of integrity in six fault modes is 100% after correct and timely fault exclusion.

Details

1009240
Identifier / keyword
Title
IM-GIV: an effective integrity monitoring scheme for tightly-coupled GNSS/INS/Vision integration based on factor graph optimization
Publication title
arXiv.org; Ithaca
Publication year
2024
Publication date
Oct 30, 2024
Section
Computer Science; Electrical Engineering and Systems Science
Publisher
Cornell University Library, arXiv.org
Source
arXiv.org
Place of publication
Ithaca
Country of publication
United States
University/institution
Cornell University Library arXiv.org
e-ISSN
2331-8422
Source type
Working Paper
Language of publication
English
Document type
Working Paper
Publication history
 
 
Online publication date
2024-10-31
Milestone dates
2024-10-30 (Submission v1)
Publication history
 
 
   First posting date
31 Oct 2024
ProQuest document ID
3122763780
Document URL
https://www.proquest.com/working-papers/im-giv-effective-integrity-monitoring-scheme/docview/3122763780/se-2?accountid=208611
Full text outside of ProQuest
Copyright
© 2024. This work is published under http://arxiv.org/licenses/nonexclusive-distrib/1.0/ (the “License”). Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License.
Last updated
2024-11-01
Database
ProQuest One Academic