Abstract
Abstract With the development of science and technology, there is an increasing demand for positioning accuracy in navigation. To make full use of the complementarity of existing navigation systems to improve navigation and positioning accuracy, this paper investigates the visual/INS combined navigation system based on the factor graph optimization (FGO) algorithm. In the traditional visual/INS combined navigation system, there is often the problem of image blurring due to the rapid change of light and shadow captured by the vision sensor and the attitude change of the carrier, which leads to a decrease in the positioning accuracy of the combined navigation system. Therefore, this paper first introduces the Retinex algorithm and BID algorithm to carry out the design of the image deblurring method; then the visual/INS combined navigation algorithm is implemented based on the factor graph optimization method; finally, the experimental scheme is designed, comparative experiments are carried out, and the researched method is verified by using the public dataset. The experimental results show that the combined navigation algorithm realized in this paper has high accuracy, and its positioning accuracy is improved by 40% compared with visual positioning.
Published Version
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