The invention discloses a robust adaptive factor graph intelligent brake shoe navigation system and algorithm. The robust adaptive factor graph algorithm selects a Sage-Husa algorithm as an adaptive filtering algorithm of a robust adaptive factor graph system. And then calculating the observability in the scalar form corresponding to each state variable in the navigation factors, carrying out normalization processing on the calculated observability, and calculating the credibility. An optimized adaptive navigation factor can be obtained by utilizing the credibility, and a robust adaptive factor graph navigation system is constructed on the basis of a factor graph elimination optimization algorithm. The system and the algorithm significantly improve the stability of the system.
本发明公开了一种鲁棒自适应因子图智能铁鞋导航系统和算法,鲁棒自适应因子图算法选取Sage‑Husa算法作为鲁棒自适应因子图系统的自适应滤波算法。接着解算出导航因子中每个状态变量对应的标量形式的可观测度,对计算出的可观测度进行归一化处理,计算出可信度。利用该可信度可以得到优化的自适应导航因子,在因子图消元优化算法的基础上,构建出鲁棒自适应因子图导航系统。该系统和算法显著提高系统的稳定性。
Robust adaptive factor graph intelligent iron shoe navigation system and algorithm
一种鲁棒自适应因子图智能铁鞋导航系统和算法
2023-11-03
Patent
Electronic Resource
Chinese
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B61K Andere Hilfseinrichtungen für Eisenbahnen , OTHER AUXILIARY EQUIPMENT FOR RAILWAYS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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