Factor graph based incremental smoothing in inertial navigation systems

@article{Indelman2012FactorGB,
  title={Factor graph based incremental smoothing in inertial navigation systems},
  author={Vadim Indelman and Stephen Williams and Michael Kaess and Frank Dellaert},
  journal={2012 15th International Conference on Information Fusion},
  year={2012},
  pages={2154-2161}
}
This paper describes a new approach for information fusion in inertial navigation systems. In contrast to the commonly used filtering techniques, the proposed approach is based on a non-linear optimization for processing incoming measurements from the inertial measurement unit (IMU) and any other available sensors into a navigation solution. A factor graph formulation is introduced that allows multi-rate, asynchronous, and possibly delayed measurements to be incorporated in a natural way. This… CONTINUE READING

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