Processing method of INS/GPS information delay based on factor graph algorithm

doi:10.11772/j.issn.1001-9081.2018040814

Abstract

Abstract: Aiming at the problem of the poor real-time performance of Inertial Navigation System (INS)/Global Positioning System (GPS) integrated navigation system caused by GPS information delay, a processing method which takes advantage of dealing with various asynchronous measurements at an information fusion time in factor graph algorithm was proposed. Before the system received GPS information, the factor nodes of the INS information were added to the factor graph model, and the integrated navigation results were obtained by incremental inference to ensure the real-time performance of the system. After the system received the GPS information, the factor nodes about the GPS information were added to the factor graph model to correct the INS error, thereby ensuring high-precision operation of the system for a long time. The simulation results show that, the navigation state that has just been updated by GPS information can correct the INS error effectively, when the correction effect of real-time navigation state on INS error becomes worse, as the time of GPS information delay becomes longer. The factor graph algorithm avoids the adverse effects of GPS information delay on the real-time performance of INS/GPS integrated navigation system, and ensures the accuracy of the system.

Key words: integrated navigation, information fusion, Inertial Navigation System (INS), Global Positioning System (GPS), factor graph, information delay

摘要： 针对全球定位系统（GPS）信息滞后导致惯性导航系统（INS）/GPS组合导航系统实时性差的问题，利用因子图算法可以在一个信息融合时刻处理各信息源不同时刻量测信息的特点，提出了一种INS/GPS信息滞后处理方法。在系统接收到GPS信息之前，因子图模型中只添加关于INS信息的因子节点，经增量推理求出组合导航结果，保证系统的实时性。待系统接收到GPS信息之后，再将关于GPS信息的因子节点添加到因子图模型中，修正INS误差，从而保证系统长时间高精度运行。仿真结果表明，当上一时刻实时导航状态量对INS误差修正效果随GPS信息滞后时间变长而逐渐变差时，可以采用上一时刻刚刚完成量测更新的导航状态量实现INS误差的有效修正。因子图算法在保证系统精度的前提下，避免了GPS信息滞后对INS/GPS组合导航系统实时性的不良影响。

关键词: 组合导航, 信息融合, 惯性导航系统, 全球定位系统, 因子图, 信息滞后

CLC Number:

TP273.5

GAO Junqiang, TANG Xiaqing, ZHANG Huan, GUO Libin. Processing method of INS/GPS information delay based on factor graph algorithm[J]. Journal of Computer Applications, 2018, 38(11): 3342-3347.

高军强, 汤霞清, 张环, 郭理彬. 基于因子图算法的INS/GPS信息滞后处理方法[J]. 计算机应用, 2018, 38(11): 3342-3347.

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