Factor graph optimization (FGO) recently has attracted attention as an alternative to the extended Kalman filter (EKF) for GNSS-INS integration. This study evaluates both loosely and tightly coupled integrations
FusionFly is an open-source toolkit for processing and fusing GNSS (Global Navigation Satellite System) and IMU (Inertial Measurement Unit) data with Factor Graph Optimization (FGO). The system provides a modern web interface for uploading, processing, visualizing, and downloading standardized navigatio...
The stochastic model needs a lot of empirical values for both Kalman filtering and FGO method, which needs more inves- tigation in the future. Nevertheless, it does not affect the fact The ambiguity resolution of PPP was first realized under the framework of factor graph optimization, which is...
A novel architecture in which the Factor Graph Optimization (FGO) is hybrid with the Extended Kalman Filter (EKF) for tightly coupled GNSS/UWB integration with online Temporal calibration (FE-GUT). - zhaoqj23/FE-GUT
To overcome these limitations, researchers have explored multi-source sensor fusion methods based on Factor Graph Optimization (FGO) to enhance navigation accuracy and robustness. As a powerful nonlinear optimization tool, FGO constructs a graph model that includes measurements, state variables, and ...
An Open-source Package for GNSS Positioning and Real-time Kinematic Using Factor Graph Optimization This repository is the implementation of the open-sourced package, the GraphGNSSLib, which makes use of the factor graph optimization (FGO) to perform the postprocessing of GNSS positioning and real...
Factor Graph OptimizationSliding windowSatellite formations have been widely applied in scientific missions such as Earth gravity field measurements, where real-time relative orbit determination (RTROD) plays a critical role in ensuring the success of the mission. Factor graph optimization (FGO), which...
factor graph optimization (FGO)Global navigation satellite systems (GNSSs) applied to intelligent transport systems in urban areas suffer from multipath and non-line-of-sight (NLOS) effects due to the signal reflections from high-rise buildings, which seriously degrade the accuracy and reliability of...
factor graph library pythonmessage-passingsum-productbelief-propagationfactor-graph UpdatedJan 29, 2019 Python zhaoqj23/FE-GUT Star65 A novel architecture in which the Factor Graph Optimization (FGO) is hybrid with the Extended Kalman Filter (EKF) for tightly coupled GNSS/UWB integration with online...
GTSAM: Factor graph optimization library. Due to a problem with the MATLAB wrapper, please cloneGTSAM from my repositoryinstead of the original GTSAM and build it using the following procedure. sudo apt-get install -y git build-essential cmake libboost-all-dev libtbb-dev python3-pip pip insta...