Factor graph based navigation and positioning for control system design:A review  

作　　者：Xiwei WU Bing XIAO Cihang WU Yiming GUO Lingwei LI 

机构地区：[1]School of Automation,Northwestern Polytechnical University,Xi’an 710072,China

出　　处：《Chinese Journal of Aeronautics》2022年第5期25-39,共15页中国航空学报（英文版）

基　　金：supported by the National Natural Science Foundation of China(No.61873207);the National Science and Technology Major Project,China(No.J2019-I-00210020);the Natural Science Basic Research Program of Shaanxi,China(No.2019JQ-344);the Science and Technology Program of Xi’an City,China(No.2019218314GXRC019CG020-GXYD19.3);the Innovation Foundation for Doctor Dissertation of Northwestern Polytechnical University,China。

摘　　要：Navigation and positioning is an important and challenging problem in many control engineering applications.It provides feedback information to design controllers for systems.In this paper,a bibliographical review on factor graph based navigation and positioning is presented.More specifically,the sensor modeling,the factor graph optimization methods,and the topology factor based cooperative localization are reviewed.The navigation and positioning methods via factor graph are considered and classified.Focuses in the current research of factor graph based navigation and positioning are also discussed with emphasis on its practical application.The limitations of the existing methods,some solutions for future techniques,and recommendations are finally given.

关 键 词：Factor graph NAVIGATION Optimization methods POSITIONING Sensor modeling 

分 类 号：TN96[电子电信—信号与信息处理] TP273[电子电信—信息与通信工程]