Vehicle INS/Odometer Integrated Navigation Algorithm Based on Factor Graph

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.