超宽带多锚点弹性辅助的视觉/惯性紧耦合导航

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Ultra-wideband multi-anchor resilient-assisted vision/inertial tightly coupled navigation

LUO Haolong 1，2 ，LI Jiansheng1，XU Zhitao³，WANG Li1， ZHANG Shitian 4 ，LI Guangyun1*

（1. School of Geospatial Information， Information Engineering University， Zhengzhou 45Ooo1，China;

2.State Key Laboratory of Geo-Information Engineering，Xi' an 71O054，China;

3.School ofComputer Science and Engineering，Central South University，Changsha 41Oo83，China;

4. The 22nd Research Institute， China Electronics Technology Group Corporation， Qingdao 266107，China） * Corresponding author，E-mail： guangyun_li_chxy@l63.com

Abstract：Due to the limitations of distance measurement from a single ultra-wideband （UWB）anchor， which provides only one-dimensional information，significant enhancement in system accuracy and robustness is constrained.To address this issue，a UWB multi-anchor resilient-asssted vision/inertial tightly coupled navigation method was proposed，which obviates the necesity of pre-obtaining UWB anchor positions and demonstrates universal applicability. Initially，based on the plug-and-play concept，an online asynchronous po sitioning estimation method was introduced to effectively and timely utilize UWB anchor information.Subsequently，a resilient factor graph optimization framework was employed to construct a tightly coupled factor graph model for vision-inertial UWB fusion，facilitating tightly coupled navigation that integrates information from vision，inertialsensors，and multiple UWB anchors.The proposed method was validated using both the open-source VIRAL dataset and datasets collected from real-world environments. Experimental results indicate that，in comparison to state-of-the-art open-source algorithms VINS-MONO and VIR-SLAM，the positioning accuracy of the proposed method improved by an average of 30.61% and 23.19% ，respectively. These findings underscore that the UWB multi-anchor resilient-assisted vision/inertial tightly coupled navigation method provides enhanced positioning accuracy and improved robustness.

Key Words： ultra-wideband multi-anchor；outlier detection；anchor position estimation； factor graph opti-mization； tightly coupled navigation

1引言

全球导航卫星系统（GlobalNavigationSatel-liteSystem，GNSS）在导航领域发挥了不可替代的重要作用[1-3]。（剩余16410字）