Comparison of extended Kalman filter and factor graph optimization for GNSS/INS integrated navigation system

(GNSS) and inertial navigation systems (INS) is extensively studied in the past decades for vehicular navigations, such as unmanned aerial vehicles (UAV) and autonomous driving vehicles (ADV). Conventionally, the two most common integration solutions are the loosely-coupled and the tightly-coupled integration using the extended Kalman filter (EKF). The recently proposed factor graph optimization (FGO) is adopted to integrate GNSS/INS which attracted lots of attention and improved the performance over the existing EKF-based …