A Comparative Study of Factor Graph Optimization-Based and Extended Kalman Filter-Based PPP-B2b/INS Integrated Navigation
Recently, factor graph optimization (FGO)-based GNSS/INS integrated navigation has garnered widespread attention for its ability to provide more robust positioning performance in challenging environments like urban canyons, compared to traditional extended Kalman filter (EKF)-based methods. In exist...
| Main Authors: | , , , , |
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MDPI AG
2023-10-01
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| Series: | Remote Sensing |
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| Online Access: | https://www.mdpi.com/2072-4292/15/21/5144 |
| _version_ | 1797631368916631552 |
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| author | Shiji Xin Xiaoming Wang Jinglei Zhang Kai Zhou Yufei Chen |
| author_facet | Shiji Xin Xiaoming Wang Jinglei Zhang Kai Zhou Yufei Chen |
| author_sort | Shiji Xin |
| collection | DOAJ |
| description | Recently, factor graph optimization (FGO)-based GNSS/INS integrated navigation has garnered widespread attention for its ability to provide more robust positioning performance in challenging environments like urban canyons, compared to traditional extended Kalman filter (EKF)-based methods. In existing GNSS/INS integrated navigation methods based on FGO, the primary approach involves combining single point positioning (SPP) or real-time kinematic (RTK) with INS by constructing factors between consecutive epochs to resist outliers and achieve robust positioning. However, the potential of a high-precision positioning system based on the FGO algorithm, combining INS and PPP-B2b and that does not rely on reference stations and network connections, has not been fully explored. In this study, we developed a loosely coupled PPP-B2b/INS model based on the EKF and FGO algorithms. Experiments in different urban road and overpass scenarios were conducted to investigate the positioning performance of the two different integration navigation algorithms using different degrades of inertial measurement units (IMUs). The results indicate that the FGO algorithm outperforms the EKF algorithm in terms of positioning with the combination of GNSS and different degrades of IMUs under various conditions. Compared to the EKF method, the application of the FGO algorithm leads to improvements in the positioning accuracy of approximately 15.8%~45.9% and 19%~41.3% in horizontal and vertical directions, respectively, for different experimental conditions. In scenarios with long and frequent signal obstructions, the advantages of the FGO algorithm become more evident, especially in the horizontal direction. An obvious improvement in positioning results is observed when the tactical-grade IMU is used instead of the microelectron-mechanical system (MEMS) IMU in the GNSS/INS combination, which is more evident for the FGO algorithm than for the EKF algorithm. |
| first_indexed | 2024-03-11T11:22:54Z |
| format | Article |
| id | doaj.art-f0b998e244eb429db57d0deb20218234 |
| institution | Directory Open Access Journal |
| issn | 2072-4292 |
| language | English |
| last_indexed | 2024-03-11T11:22:54Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Remote Sensing |
| spelling | doaj.art-f0b998e244eb429db57d0deb202182342023-11-10T15:11:11ZengMDPI AGRemote Sensing2072-42922023-10-011521514410.3390/rs15215144A Comparative Study of Factor Graph Optimization-Based and Extended Kalman Filter-Based PPP-B2b/INS Integrated NavigationShiji Xin0Xiaoming Wang1Jinglei Zhang2Kai Zhou3Yufei Chen4Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, ChinaAerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, ChinaAerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, ChinaAerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, ChinaAerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, ChinaRecently, factor graph optimization (FGO)-based GNSS/INS integrated navigation has garnered widespread attention for its ability to provide more robust positioning performance in challenging environments like urban canyons, compared to traditional extended Kalman filter (EKF)-based methods. In existing GNSS/INS integrated navigation methods based on FGO, the primary approach involves combining single point positioning (SPP) or real-time kinematic (RTK) with INS by constructing factors between consecutive epochs to resist outliers and achieve robust positioning. However, the potential of a high-precision positioning system based on the FGO algorithm, combining INS and PPP-B2b and that does not rely on reference stations and network connections, has not been fully explored. In this study, we developed a loosely coupled PPP-B2b/INS model based on the EKF and FGO algorithms. Experiments in different urban road and overpass scenarios were conducted to investigate the positioning performance of the two different integration navigation algorithms using different degrades of inertial measurement units (IMUs). The results indicate that the FGO algorithm outperforms the EKF algorithm in terms of positioning with the combination of GNSS and different degrades of IMUs under various conditions. Compared to the EKF method, the application of the FGO algorithm leads to improvements in the positioning accuracy of approximately 15.8%~45.9% and 19%~41.3% in horizontal and vertical directions, respectively, for different experimental conditions. In scenarios with long and frequent signal obstructions, the advantages of the FGO algorithm become more evident, especially in the horizontal direction. An obvious improvement in positioning results is observed when the tactical-grade IMU is used instead of the microelectron-mechanical system (MEMS) IMU in the GNSS/INS combination, which is more evident for the FGO algorithm than for the EKF algorithm.https://www.mdpi.com/2072-4292/15/21/5144PPP-B2binertial navigation systemsfactor graph optimizationextended Kalman filterintegrated navigation |
| spellingShingle | Shiji Xin Xiaoming Wang Jinglei Zhang Kai Zhou Yufei Chen A Comparative Study of Factor Graph Optimization-Based and Extended Kalman Filter-Based PPP-B2b/INS Integrated Navigation Remote Sensing PPP-B2b inertial navigation systems factor graph optimization extended Kalman filter integrated navigation |
| title | A Comparative Study of Factor Graph Optimization-Based and Extended Kalman Filter-Based PPP-B2b/INS Integrated Navigation |
| title_full | A Comparative Study of Factor Graph Optimization-Based and Extended Kalman Filter-Based PPP-B2b/INS Integrated Navigation |
| title_fullStr | A Comparative Study of Factor Graph Optimization-Based and Extended Kalman Filter-Based PPP-B2b/INS Integrated Navigation |
| title_full_unstemmed | A Comparative Study of Factor Graph Optimization-Based and Extended Kalman Filter-Based PPP-B2b/INS Integrated Navigation |
| title_short | A Comparative Study of Factor Graph Optimization-Based and Extended Kalman Filter-Based PPP-B2b/INS Integrated Navigation |
| title_sort | comparative study of factor graph optimization based and extended kalman filter based ppp b2b ins integrated navigation |
| topic | PPP-B2b inertial navigation systems factor graph optimization extended Kalman filter integrated navigation |
| url | https://www.mdpi.com/2072-4292/15/21/5144 |
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