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id=\"4CAC3E2M\">\u867d\u7136\u8fd9\u79cd\u65b9\u5f0f\u903b\u8f91\u6e05\u6670\u3001\u8ba1\u7b97\u91cf\u5c0f\uff0c\u4f46\u5728\u6781\u5177\u6311\u6218\u6027\u7684\u57ce\u5e02\u73af\u5883\u4e2d\uff0c\u5b83\u7684\u8868\u73b0\u4f9d\u65e7\u4e0d\u5c3d\u5982\u4eba\u610f\u3002\u5982\u5f53\u53ef\u89c1\u536b\u661f\u4e0d\u8db3\u56db\u9897\u65f6\uff0cGNSS\u89e3\u7b97\u5668\u53ef\u80fd\u76f4\u63a5\u62a5\u9519\u9000\u51fa\uff0c\u6b64\u65f6\u677e\u8026\u5408\u7cfb\u7edf\u5c31\u65e0\u6cd5\u5229\u7528\u5269\u4f59\u7684\u4e09\u9897\u536b\u661f\u6240\u5305\u542b\u7684\u4fe1\u606f\u3002<\/p>\n\n\n\n<p id=\"4CAC3E2N\">\u7d27\u8026\u5408\u65b9\u6848\u5219\u5b8c\u5168\u6253\u7834\u4e86\u4f20\u611f\u5668\u4e4b\u95f4\u7684\u8fb9\u754c\uff0c\u5b83\u76f4\u63a5\u5904\u7406\u6bcf\u4e2a\u4f20\u611f\u5668\u7684\u539f\u59cb\u89c2\u6d4b\u6570\u636e\uff0c\u5982GNSS\u7684\u4f2a\u8ddd\u548c\u591a\u666e\u52d2\u9891\u7387\u3001\u6fc0\u5149\u96f7\u8fbe\u7684\u539f\u59cb\u53cd\u5c04\u70b9\u5750\u6807\u4ee5\u53caIMU\u7684\u9ad8\u9891\u91c7\u6837\u4fe1\u53f7\u7b49\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2026%2F0306%2F98b6b78dj00tbgh7n0010d000hs009xm.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"4CAC3E2P\">\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n<p id=\"4CAC3E2Q\">\u8fd9\u4e9b\u539f\u59cb\u6570\u636e\u4f1a\u88ab\u653e\u7f6e\u5728\u540c\u4e00\u4e2a\u6570\u5b66\u4f18\u5316\u6846\u67b6\u4e2d\u8fdb\u884c\u8054\u5408\u6c42\u89e3\u3002\u5728\u8fd9\u79cd\u6a21\u5f0f\u4e0b\uff0c\u5373\u4f7f\u536b\u661f\u6570\u91cf\u6781\u5c11\uff0c\u54ea\u6015\u53ea\u6709\u4e24\u4e09\u9897\uff0c\u7cfb\u7edf\u4f9d\u7136\u53ef\u4ee5\u7ed3\u5408\u6fc0\u5149\u96f7\u8fbe\u63d0\u4f9b\u7684\u5730\u9762\u7ea6\u675f\u548cIMU\u63d0\u4f9b\u7684\u8fd0\u52a8\u5148\u9a8c\uff0c\u5bf9\u8f66\u8f86\u4f4d\u59ff\u8fdb\u884c\u6709\u6548\u7ea6\u675f\uff0c\u4ece\u800c\u5728\u6781\u5927\u7a0b\u5ea6\u4e0a\u7f29\u77ed\u4fe1\u53f7\u76f2\u533a\u7684\u201c\u65ad\u6863\u671f\u201d\u3002<\/p>\n\n\n\n<p id=\"4CAC3E2R\">\u66f4\u8fdb\u4e00\u6b65\u7684\u201c\u6df1\u8026\u5408\u201d\uff08Deep Coupling\uff09\u6280\u672f\u751a\u81f3\u6df1\u5165\u5230GNSS\u63a5\u6536\u673a\u7684\u4fe1\u53f7\u8ddf\u8e2a\u73af\u8def\uff0c\u5229\u7528IMU\u611f\u77e5\u5230\u7684\u77ac\u65f6\u901f\u5ea6\u53d8\u5316\u53bb\u8f85\u52a9\u8f7d\u6ce2\u8ddf\u8e2a\u73af\u8def\uff0c\u4ece\u800c\u8ba9\u8f66\u8f86\u5728\u590d\u6742\u73af\u5883\u4e0b\u80fd\u591f\u9501\u5b9a\u536b\u661f\u4fe1\u53f7\uff0c\u6709\u6548\u5bf9\u6297\u7531\u4e8e\u9707\u52a8\u6216\u5feb\u901f\u8fd0\u52a8\u5bfc\u81f4\u7684\u5931\u9501\u95ee\u9898\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"http:\/\/dingyue.ws.126.net\/2026\/0306\/ee1d4f55g00tbgh7n0004d000hs001gm.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"4CAC3E2T\"><strong>\u56e0\u5b50\u56fe\u4f18\u5316\uff0c\u6784\u5efa\u6297\u5e72\u6270\u7684\u9c81\u68d2\u4f30\u8ba1\u6846\u67b6<\/strong><\/p>\n\n\n\n<p id=\"4CAC3E2U\">\u5728\u878d\u5408\u5b9a\u4f4d\u7684\u6570\u5b66\u6c42\u89e3\u4e2d\uff0c\u56e0\u5b50\u56fe\u4f18\u5316\uff08Factor Graph Optimization, FGO\uff09\u6b63\u5728\u9010\u6e10\u53d6\u4ee3\u4f20\u7edf\u7684\u6269\u5c55\u5361\u5c14\u66fc\u6ee4\u6ce2\uff08EKF\uff09\uff0c\u6210\u4e3a\u652f\u6491\u81ea\u52a8\u9a7e\u9a76\u5b9a\u4f4d\u7cfb\u7edf\u7684\u6838\u5fc3\u6846\u67b6\u3002<\/p>\n\n\n\n<p id=\"4CAC3E2V\">EKF\u4f5c\u4e3a\u4e00\u79cd\u57fa\u4e8e\u65f6\u95f4\u9012\u5f52\u7684\u65b9\u6cd5\uff0c\u5176\u6700\u5927\u7684\u5f31\u70b9\u5728\u4e8e\u201c\u5065\u5fd8\u201d\uff0c\u5b83\u5728\u6bcf\u4e2a\u65f6\u523b\u53ea\u4fdd\u7559\u524d\u4e00\u523b\u7684\u72b6\u6001\uff0c\u5e76\u6839\u636e\u5f53\u524d\u89c2\u6d4b\u8fdb\u884c\u4e00\u6b21\u66f4\u65b0\uff0c\u65e0\u6cd5\u5229\u7528\u5386\u53f2\u6570\u636e\u8fdb\u884c\u56de\u6eaf\u4fee\u6b63\u3002<\/p>\n\n\n\n<p id=\"4CAC3E30\">\u5728\u57ce\u5e02\u73af\u5883\u4e2d\uff0c\u5982\u679c\u63a5\u6536\u673a\u8bef\u5c06\u4e00\u4e2a\u88ab\u5efa\u7b51\u53cd\u5c04\u7684\u5f3a\u4fe1\u53f7\u5f53\u4f5c\u771f\u503c\uff0cEKF\u4f1a\u7531\u4e8e\u5355\u6b21\u6743\u91cd\u7684\u503e\u659c\u800c\u77ac\u95f4\u4ea7\u751f\u5de8\u5927\u7684\u5b9a\u4f4d\u8bef\u5dee\uff0c\u4e14\u5f88\u96be\u5728\u4e4b\u540e\u7684\u6b65\u9aa4\u4e2d\u81ea\u6211\u4fee\u6b63\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"https:\/\/nimg.ws.126.net\/?url=http%3A%2F%2Fdingyue.ws.126.net%2F2026%2F0306%2F6d2d669fj00tbgh7o0010d000hs00bdm.jpg&amp;thumbnail=660x2147483647&amp;quality=80&amp;type=jpg\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"4CAC3E32\">\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n<p id=\"4CAC3E33\">\u56e0\u5b50\u56fe\u4f18\u5316\u5219\u5c06\u5b9a\u4f4d\u95ee\u9898\u5efa\u6a21\u4e3a\u4e00\u4e2a\u5e9e\u5927\u7684\u6570\u5b66\u56fe\u8868\u3002\u5728\u8fd9\u4e2a\u56fe\u4e2d\uff0c\u8282\u70b9\u4ee3\u8868\u8f66\u8f86\u5728\u4e0d\u540c\u5386\u53f2\u65f6\u523b\u7684\u4f4d\u59ff\u548c\u8fd0\u52a8\u53c2\u6570\uff0c\u800c\u8fde\u63a5\u8282\u70b9\u7684\u8fb9\uff08\u5373\u56e0\u5b50\uff09\u5219\u4ee3\u8868\u5404\u79cd\u4f20\u611f\u5668\u63d0\u4f9b\u7684\u89c2\u6d4b\u7ea6\u675f\u3002<\/p>\n\n\n\n<p id=\"4CAC3E34\">\u7b80\u5355\u7406\u89e3\u4e0b\uff0cIMU\u56e0\u5b50\u8fde\u63a5\u7740\u76f8\u90bb\u7684\u65f6\u95f4\u8282\u70b9\uff0c\u4ee3\u8868\u8fd0\u52a8\u7684\u8fde\u7eed\u6027\uff1bGNSS\u56e0\u5b50\u4e3a\u7279\u5b9a\u8282\u70b9\u63d0\u4f9b\u5168\u7403\u5750\u6807\u7ea6\u675f\uff1bSLAM\u56e0\u5b50\u5219\u901a\u8fc7\u5339\u914d\u73af\u5883\u7279\u5f81\u5efa\u7acb\u8d77\u4e0d\u540c\u65f6\u523b\u8282\u70b9\u95f4\u7684\u76f8\u5bf9\u4f4d\u7f6e\u8054\u7cfb\u3002<\/p>\n\n\n\n<p id=\"4CAC3E35\">FGO\u7684\u5de5\u4f5c\u8fc7\u7a0b\u5c31\u50cf\u662f\u89e3\u4e00\u4e2a\u591a\u7ea6\u675f\u7684\u6700\u4f18\u65b9\u6848\uff0c\u5b83\u4f1a\u5728\u4e00\u4e2a\u6ed1\u52a8\u7a97\u53e3\u5185\uff0c\u540c\u65f6\u5bf9\u8fc7\u53bb\u51e0\u79d2\u949f\u751a\u81f3\u66f4\u957f\u65f6\u95f4\u5185\u7684\u6240\u6709\u4f4d\u59ff\u8fdb\u884c\u8fed\u4ee3\u4f18\u5316\uff0c\u5bfb\u627e\u4e00\u4e2a\u80fd\u8ba9\u6240\u6709\u4f20\u611f\u5668\u89c2\u6d4b\u201c\u77db\u76fe\u6700\u5c0f\u201d\u7684\u6700\u4f18\u8def\u5f84\u3002<\/p>\n\n\n\n<p id=\"4CAC3E36\">\u8fd9\u79cd\u201c\u6ed1\u52a8\u7a97\u53e3\u201d\u52a0\u201c\u591a\u6b21\u8fed\u4ee3\u201d\u7684\u673a\u5236\u8d4b\u4e88\u4e86\u7cfb\u7edf\u6781\u5f3a\u7684\u9c81\u68d2\u6027\u3002\u5f53\u7cfb\u7edf\u5728\u7a97\u53e3\u5185\u53d1\u73b0\u67d0\u4e00\u5e27GNSS\u89c2\u6d4b\u4e0eIMU\u53ca\u96f7\u8fbe\u7684\u63a8\u7b97\u7ed3\u679c\u4e25\u91cd\u4e0d\u7b26\u65f6\uff0c\u5b83\u5e76\u4e0d\u4f1a\u76f2\u76ee\u8ddf\u968f\u8fd9\u4e2a\u9519\u8bef\u89c2\u6d4b\uff0c\u800c\u662f\u53ef\u4ee5\u901a\u8fc7\u9c81\u68d2\u6838\u51fd\u6570\uff08Robust Kernels\uff09\u6709\u6548\u5730\u964d\u4f4e\u8fd9\u4e2a\u201c\u79bb\u7fa4\u70b9\u201d\u7684\u6743\u91cd\uff0c\u751a\u81f3\u5c06\u5176\u5f7b\u5e95\u5254\u9664\uff0c\u4ece\u800c\u786e\u4fdd\u6574\u4f53\u8f68\u8ff9\u7684\u5e73\u7a33\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image\"><img decoding=\"async\" src=\"http:\/\/dingyue.ws.126.net\/2026\/0306\/4641d232g00tbgh7o00brd000hs008jm.gif\" alt=\"\"\/><\/figure>\n\n\n\n<p id=\"4CAC3E38\">\u56fe\u7247\u6e90\u81ea\uff1a\u7f51\u7edc<\/p>\n\n\n\n<p id=\"4CAC3E39\">\u4e3a\u4e86\u5b9e\u73b0\u9ad8\u6548\u7684\u56e0\u5b50\u56fe\u4f18\u5316\uff0c\u6709\u6280\u672f\u5f15\u5165\u4e86\u201c\u9884\u79ef\u5206\u201d\uff08Pre-integration\uff09\u6280\u672f\u3002\u7531\u4e8eIMU\u7684\u6570\u636e\u9891\u7387\u6781\u9ad8\uff08\u901a\u5e38\u5728100Hz\u81f3400Hz\u4e4b\u95f4\uff09\uff0c\u5982\u679c\u5c06\u6bcf\u4e00\u5e27IMU\u6570\u636e\u90fd\u4f5c\u4e3a\u56e0\u5b50\u52a0\u5165\u56fe\u4e2d\uff0c\u8ba1\u7b97\u91cf\u5c06\u5448\u6307\u6570\u7ea7\u589e\u957f\u3002<\/p>\n\n\n\n<p id=\"4CAC3E3A\">\u9884\u79ef\u5206\u6280\u672f\u5de7\u5999\u5730\u5c06\u4e24\u4e2a\u5173\u952e\u5e27\u4e4b\u95f4\u7684\u5927\u91cfIMU\u539f\u59cb\u89c2\u6d4b\u5408\u5e76\u6210\u4e00\u4e2a\u76f8\u5bf9\u4f4d\u79fb\u548c\u65cb\u8f6c\u589e\u91cf\uff0c\u5e76\u8ba1\u7b97\u51fa\u76f8\u5e94\u7684\u8bef\u5dee\u4f20\u9012\u77e9\u9635\u3002<\/p>\n\n\n\n<p 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