Real-time loosely coupled GNSS and IMU integration via Factor Graph Optimization
Accurate positioning, navigation, and timing (PNT) is fundamental to the operation of modern technologies and a key enabler of autonomous systems. A very important component of PNT is the Global Navigation Satellite System (GNSS) which ensures outdoor positioning. Modern research directions have pushed the performance of GNSS localization to new heights by fusing GNSS measurements with other sensory information, mainly measurements from Inertial Measurement Units (IMU). In this paper, we propose a loosely coupled architecture to integrate GNSS and IMU measurements using a Factor Graph Optimization (FGO) framework. Because the FGO method can be computationally challenging and often used as...
| Authors | Radu-Andrei Cioaca, Cristian Rusu, Paul Irofti et al. |
|---|---|
| Primary category | cs.RO |
| Published | 3 March 2026 |
| Last updated at source | 3 March 2026 |
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