ACTA AERONAUTICAET ASTRONAUTICA SINICA >
Factor graph optimization based multi-GNSS positioning with robust variance component estimation
Received date: 2024-12-06
Revised date: 2024-12-10
Accepted date: 2024-12-24
Online published: 2024-12-30
Supported by
National Key Research and Development Program of China(2023YFB3907302);Beijing Natural Science Foundation(4254104);Open Project Program of State Key Laboratory of Communication Navigation, Surveillance/Air Traffic Management(2024B21);BIT Research and Innovation Promoting Project(2024YCXY029)
With the development of Global Navigation Satellite System （GNSS）， multi-GNSS positioning has been shown to provide a more effective solution for accurate localization， benefiting from an increased number of available satellites and improved geo-metric distribution. Recent research indicates that Factor Graph Optimization （FGO） based multi-GNSS positioning outperforms traditional algorithms. However， the refinement of the stochastic model and the adaptive weighting of FGO-based multi-GNSS positioning remain underexplored. We propose a robust Helmert Variance Component Estimation （HVCE） method to further enhance the performance of multi-GNSS positioning in challenging urban scenarios by adaptive weighting for multi-GNSS. Additionally， the robust algorithm IGG-III is applied to improve both the robustness of the HVCE method and the state estimation within the FGO framework. The results of vehicle-borne tests show that compared with the single FGO scheme， the proposed algorithm improves positioning accuracy by 35.4%， 8.7%， and 25.1% in the north， east， and vertical directions， respectively. Overall， the proposed algorithm is validated to be an effective approach to improving multi-GNSS performance in complex urban environments by refining the stochastic model and adaptively weighting the measurements.
Chuang SHI , Zhixin WANG , Hao ZHANG , Tuan LI , Zhipeng WANG . Factor graph optimization based multi-GNSS positioning with robust variance component estimation[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2025 , 46(6) : 531623 -531623 . DOI: 10.7527/S1000-6893.2024.31623
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