Research on the multi-sensor information fusion method based on factor graph

摘要

Aimed at the problem of the time synchronization and the change of different sensors' usability, a multi-sensor information fusion method based on factor graph topology has been proposed combined with the principle of the probability graph model. Different factor nodes represent the state and measurement update process of the system. The topology model of the factor graph has been established according to the real-time measurement information. The recursion and update of the state has been realized by means of choosing the appropriate cost function, which can effectively improve the fusion effect of the multi-sensor information and increase the estimation precision. The simulation results show that the method proposed by the paper has a higher filtering accuracy compared with the traditional method under the condition of the different environment. The performance can satisfy various changing mission and environmental requirements of the vehicle.