中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
首页 机构 成果 学者
  
  1. CAS IR Grid
  2. 计算技术研究所
  3. 中国科学院计算技术研究所
  4. 中国科学院计算技术研究所期刊论文
  5. 英文
Robust GNSS/INS Tightly Coupled Positioning Using Factor Graph Optimization with P-Spline and Dynamic Prediction

文献类型：期刊论文

作者Ning, Bokun1; Zhao, Fang1; Luo, Haiyong2; Luo, Dan3; Shao, Wenhua1
刊名REMOTE SENSING
出版日期2025-05-21
卷号17期号:10页码:22
关键词P-spline factor graph optimization (FGO) time-difference carrier phase (TDCP) IMU pre-integration Doppler prediction
DOI10.3390/rs17101792
英文摘要The combination of GNSS RTK and INS offers complementary advantages but faces significant challenges in urban canyons. Frequent cycle slips in carrier phase measurements and ambiguity resolution algorithms increase computational burden without improving positioning accuracy. Additionally, environmental interference introduces noise into observations, potentially leading to complete signal loss. To address these issues, this paper proposes a factor graph optimization (FGO) positioning algorithm incorporating predictive observation factors. First, a penalized spline (P-spline) is constructed to predict and smooth Doppler measurements. The predicted Doppler is then fused with the dynamics model predictions to enhance robustness. Using predictive Doppler, carrier phase and pseudorange observations are reconstructed, generating predictive constraint factors to improve positioning accuracy. Real-world tests conducted in urban canyons, including Shanghai, demonstrate that the proposed method maintains stable positioning performance even under short-term signal outages, effectively mitigating cumulative positioning errors caused by data loss. Compared to traditional methods that rely solely on available observations, the proposed algorithm improves northward and dynamic positioning accuracy by 35% and 29%, respectively, providing a highly robust navigation solution for complex urban environments.
资助项目National Natural Science Foundation of China ; [62261042]
WOS研究方向Environmental Sciences & Ecology ; Geology ; Remote Sensing ; Imaging Science & Photographic Technology
语种英语
WOS记录号WOS:001496037600001
出版者MDPI
源URL[http://119.78.100.204/handle/2XEOYT63/42411]  
专题中国科学院计算技术研究所期刊论文_英文
通讯作者Luo, Haiyong
作者单位1.Beijing Univ Posts & Telecommun, Sch Comp Sci, Beijing 100876, Peoples R China
2.Chinese Acad Sci, Beijing Key Lab Mobile Comp & Pervas Device, Inst Comp Technol, Beijing 100190, Peoples R China
3.Beijing Forestry Univ, Sch Informat Sci & Technol, Beijing 100083, Peoples R China
推荐引用方式
GB/T 7714		 Ning, Bokun,Zhao, Fang,Luo, Haiyong,et al. Robust GNSS/INS Tightly Coupled Positioning Using Factor Graph Optimization with P-Spline and Dynamic Prediction[J]. REMOTE SENSING,2025,17(10):22.
APA Ning, Bokun,Zhao, Fang,Luo, Haiyong,Luo, Dan,&Shao, Wenhua.(2025).Robust GNSS/INS Tightly Coupled Positioning Using Factor Graph Optimization with P-Spline and Dynamic Prediction.REMOTE SENSING,17(10),22.
MLA Ning, Bokun,et al."Robust GNSS/INS Tightly Coupled Positioning Using Factor Graph Optimization with P-Spline and Dynamic Prediction".REMOTE SENSING 17.10(2025):22.

入库方式： OAI收割

来源：计算技术研究所

浏览0
下载0
收藏0
其他版本

除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。