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Enhancements to Factor Graph Methods for Collaborative Navigation

Enhancements to Factor Graph Methods for Collaborative Navigation

July 27, 2020

The Air Force Research Laboratory, Munitions Directorate (AFRL/RW) is interested in supporting the continued development of factor graph methods for real-time navigation state estimation of collaborative munitions with limited access to Global Positioning System signals. Inter-vehicle range and/or bearing measurements have been shown to reduce the drift of the onboard inertial navigation systems, and although factor graphs provide a useful framework for the estimation problem, some challenges still need to be addressed. Since navigation accuracy for this scenario has also been shown to depend on the vehicle trajectories, AFRL/RW is also interested in path planning methods that minimize final position uncertainty and thus improve mission effectiveness.