DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach

doi:10.1088/1361-6501/ad4733

NTSC-IR > 导航与通信研究室

	DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach
	Li, Xiaowan 1,2,3; Cheng, Fang1,3 ; Li, Yuanqi 2; Shen, Pengli 1,3; Hu, Yuhang 1,2,3; Lu, Xiaochun1,2,3
	2024-08-01
发表期刊	MEASUREMENT SCIENCE AND TECHNOLOGY
ISSN	0957-0233
卷号	35 期号:8 页码:12
摘要	Due to the fragility of single-sensor positioning technology in complex scenarios, especially in complex urban areas, multi-sensor positioning technology is becoming increasingly popular. To further improve the robustness of the positioning system by fully utilizing the information from various sensors, this article proposes a differential-GNSS-visual-inertial navigation system (DGVINS) that tightly fuses differential global navigation satellite system (GNSS), vision and inertial information to provide accurate, robust and seamless position information for intelligent navigation applications. DGVINS effectively utilizes all sensor measurements within the factor graph optimization framework. When using the carrier phase of GNSS, single-epoch ambiguity optimization is employed to prevent cycle slip detection and adapted to complex environments. We conducted experiments on public datasets with various features and compared the performance of simple differential-GNSS (DGNSS), DGNSS + Inertial, and the state-of-the-art GNSS-visual-inertial navigation systems. We also compared the performance of different combinations of GNSS differential factors in various environments. Due to the superiority of differential GNSS and its appropriate integration with visual and inertial measurements, the experimental results demonstrate that DGVINS exhibits significant improvements in accuracy, stability, and continuity in both GNSS-challenged and vision-challenged environments.
关键词	sensor fusion factor graph optimization GNSS visual-inertial odometry single-epoch ambiguity
资助者	Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong
DOI	10.1088/1361-6501/ad4733
关键词[WOS]	INTEGRATION ; FILTER ; GNSS
语种	英语
资助项目	Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents[GK AD22035957] ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science[E317YR17] ; Surveying and Mapping Office Lands Department of Hong Kong ; [XDA28040300]
资助者	Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Project for Guangxi Science and Technology Base and Talents ; Project for Guangxi Science and Technology Base and Talents ; Informatization Plan of Chinese Academy of Sciences ; Informatization Plan of Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; West Light Foundation of The Chinese Academy of Sciences ; Technical Support Talent Plan of Chinese Academy of Science ; Technical Support Talent Plan of Chinese Academy of Science ; Surveying and Mapping Office Lands Department of Hong Kong ; Surveying and Mapping Office Lands Department of Hong Kong
WOS研究方向	Engineering ; Instruments & Instrumentation
WOS类目	Engineering, Multidisciplinary ; Instruments & Instrumentation
WOS记录号	WOS:001222052500001
出版者	IOP Publishing Ltd
引用统计
文献类型	期刊论文
条目标识符	http://210.72.145.45/handle/361003/14623
专题	导航与通信研究室
通讯作者	Cheng, Fang
作者单位	1.Chinese Acad Sci, Natl Time Serv Ctr, Xian 710600, Peoples R China 2.Univ Chinese Acad Sci, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Key Lab Precise Positioning & Timing Technol, Xian 710600, Peoples R China
推荐引用方式 GB/T 7714	Li, Xiaowan,Cheng, Fang,Li, Yuanqi,et al. DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach[J]. MEASUREMENT SCIENCE AND TECHNOLOGY,2024,35(8):12.
APA	Li, Xiaowan,Cheng, Fang,Li, Yuanqi,Shen, Pengli,Hu, Yuhang,&Lu, Xiaochun.(2024).DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach.MEASUREMENT SCIENCE AND TECHNOLOGY,35(8),12.
MLA	Li, Xiaowan,et al."DGVINS: tightly coupled differential GNSS/visual/inertial for robust positioning based on optimization approach".MEASUREMENT SCIENCE AND TECHNOLOGY 35.8(2024):12.