IM-GIV：一种基于因子图优化的紧耦合GNSS/INS/视觉组合有效完好性监测方案
IM-GIV: an effective integrity monitoring scheme for tightly-coupled GNSS/INS/Vision integration based on factor graph optimization
- Beihang University（北京航空航天大学）
- Beijing Institute of Technology（北京理工大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对基于因子图优化的GNSS/INS/视觉紧组合导航缺乏有效完好性监测方案的问题，本文设计验证了位置误差边界公式，实地实验表明其可适配多类故障模式，故障排除后六类故障的完好性可用性达100%。
AI中文摘要：
基于因子图优化（FGO）的全球导航卫星系统/惯性导航系统（GNSS/INS）/视觉组合近来在导航与机器人领域受到广泛关注。当基于FGO的组合导航系统用于安全关键型应用时，需要具备完好性监测（IM）能力。但传统组合导航系统完好性监测研究大多基于卡尔曼滤波器，亟需为基于FGO的GNSS/INS/视觉组合开发有效的完好性监测方案。本文首次设计并验证了保障基于FGO的GNSS/INS/视觉组合完好性的位置误差边界公式，该公式可通过GNSS伪距、IMU预积分和视觉测量残差的线性化方程计算得出，同时给出了GNSS、INS和视觉测量故障情形下的具体位置误差边界。研究开展了实地实验以评估验证所提位置误差边界的性能，实验结果表明，所提基于FGO的GNSS/INS/视觉组合位置误差边界可在不同故障模式下正确拟合位置误差，且在正确及时排除故障后，六种故障模式下的完好性可用性为100%。
英文摘要：
Global Navigation Satellite System/Inertial Navigation System (GNSS/INS)/Vision integration based on factor graph optimization (FGO) has recently attracted extensive attention in navigation and robotics community. Integrity monitoring (IM) capability is required when FGO-based integrated navigation system is used for safety-critical applications. However, traditional researches on IM of integrated navigation system are mostly based on Kalman filter. It is urgent to develop effective IM scheme for FGO-based GNSS/INS/Vision integration. In this contribution, the position error bounding formula to ensure the integrity of the GNSS/INS/Vision integration based on FGO is designed and validated for the first time. It can be calculated by the linearized equations from the residuals of GNSS pseudo-range, IMU pre-integration and visual measurements. The specific position error bounding is given in the case of GNSS, INS and visual measurement faults. Field experiments were conducted to evaluate and validate the performance of the proposed position error bounding. Experimental results demonstrate that the proposed position error bounding for the GNSS/INS/Vision integration based on FGO can correctly fit the position error against different fault modes, and the availability of integrity in six fault modes is 100% after correct and timely fault exclusion.
