Information fusion in navigation systems via factor graph based incremental smoothing
A method for high-rate information fusion in inertial navigation systems is proposed. The joint probability distribution function is represented using a graphical model. Fully exploits the system sparsity and provides a plug and play capability. An efficient incremental inference algorithm is applied. Performance approaches a batch optimization at a fraction of the computational cost.
inertial navigation graphical models incremental inference multi-sensor fusion plug and play architecture