Factor-Graph Optimization for Robust Navigation via High-Precision GNSS/IMU Corroboration

Authors

Kyle Leland, Autonomy and Navigation Technology Center, Air Force Institute of Technology
Clark N. Taylor, Autonomy and Navigation Technology Center, Air Force Institute of TechnologyFollow
Frank Van Graas, Autonomy and Navigation Technology Center, Air Force Institute of Technology

Document Type

Conference Proceeding

Publication Date

4-28-2025

Abstract

Excerpt: This paper proposes an approach for resilient navigation through a factor-graph formulation that incorporates high-quality IMU measurements into a robust GNSS factor-graph formulation. The approach effectively enables the corroboration of GNSS measurements based on their consistency with the precise relative-motion information available from a high-quality IMU.

Comments

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DOI

10.1109/PLANS61210.2025.11028303

Source Publication

2025 IEEE/ION Position, Location and Navigation Symposium (PLANS)

Recommended Citation

Leland, K., Taylor, C. N., & Graas, F. V. (2025). Factor-Graph Optimization for Robust Navigation via High-Precision GNSS/IMU Corroboration. 2025 IEEE/ION Position, Location and Navigation Symposium (PLANS), 97–104. https://doi.org/10.1109/PLANS61210.2025.11028303