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

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