Unmanned Vehicle Positioning Method in Satellite-jamming Environment Based on Improved Factor Graph
Hangyu Chen, Chunrui Tang, Yibing Li · 2020
Nowadays, satellite positioning technology has been widely used in the navigation system of unmanned vehicles. But the complex road environment has a bad effect on satellite positioning. When an unmanned vehicle is driving between high-rise buildings, under an overpass or in a tunnel, the satellite signal it receives will be weak or even lost, which will lead to a decrease in positioning accuracy. Based on the factor graph model, this paper proposes a method to adjust the fusion weight of satellite positioning information in real time by using position difference to construct weight function. The experimental results show that the method proposed in this paper can troubleshoot and reconnect the satellite positioning information in satellite-jamming environment, and reduce the positioning error to a certain extent to ensure the normal operation of the positioning system of unmanned vehicle.