DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach
文献类型：期刊论文
| 作者 | Li, Xiaowan1,2,3; Cheng, Fang1,3 ; Li, Yuanqi2; Shen, Pengli1,3; Hu, Yuhang1,2,3; Lu, Xiaochun1,2,3
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| 刊名 | MEASUREMENT SCIENCE AND TECHNOLOGY
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| 出版日期 | 2024-08-01 |
| 卷号 | 35期号:8页码:12 |
| 关键词 | sensor fusion factor graph optimization GNSS visual-inertial odometry single-epoch ambiguity |
| ISSN号 | 0957-0233 |
| DOI | 10.1088/1361-6501/ad4733 |
| 英文摘要 | Due to the fragility of single-sensor positioning technology in complex scenarios, especially in complex urban areas, multi-sensor positioning technology is becoming increasingly popular. To further improve the robustness of the positioning system by fully utilizing the information from various sensors, this article proposes a differential-GNSS-visual-inertial navigation system (DGVINS) that tightly fuses differential global navigation satellite system (GNSS), vision and inertial information to provide accurate, robust and seamless position information for intelligent navigation applications. DGVINS effectively utilizes all sensor measurements within the factor graph optimization framework. When using the carrier phase of GNSS, single-epoch ambiguity optimization is employed to prevent cycle slip detection and adapted to complex environments. We conducted experiments on public datasets with various features and compared the performance of simple differential-GNSS (DGNSS), DGNSS + Inertial, and the state-of-the-art GNSS-visual-inertial navigation systems. We also compared the performance of different combinations of GNSS differential factors in various environments. Due to the superiority of differential GNSS and its appropriate integration with visual and inertial measurements, the experimental results demonstrate that DGVINS exhibits significant improvements in accuracy, stability, and continuity in both GNSS-challenged and vision-challenged environments. |
| WOS关键词 | INTEGRATION ; FILTER ; GNSS |
| 资助项目 | Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents[GK AD22035957] ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science[E317YR17] ; Surveying and Mapping Office Lands Department of Hong Kong ; [XDA28040300] |
| WOS研究方向 | Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:001222052500001 |
| 出版者 | IOP Publishing Ltd |
| 资助机构 | Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong |
| 源URL | [http://210.72.145.45/handle/361003/14623]  |
| 专题 | 国家授时中心_导航与通信研究室 |
| 通讯作者 | Cheng, Fang |
| 作者单位 | 1.Chinese Acad Sci, Key Lab Precise Positioning & Timing Technol, Xian 710600, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Natl Time Serv Ctr, Xian 710600, Peoples R China |
| 推荐引用方式 GB/T 7714 | Li, Xiaowan,Cheng, Fang,Li, Yuanqi,et al. DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach[J]. MEASUREMENT SCIENCE AND TECHNOLOGY,2024,35(8):12. |
| APA | Li, Xiaowan,Cheng, Fang,Li, Yuanqi,Shen, Pengli,Hu, Yuhang,&Lu, Xiaochun.(2024).DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach.MEASUREMENT SCIENCE AND TECHNOLOGY,35(8),12. |
| MLA | Li, Xiaowan,et al."DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach".MEASUREMENT SCIENCE AND TECHNOLOGY 35.8(2024):12. |
入库方式： OAI收割
来源：国家授时中心
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