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Tightly Coupled GNSS/INS Integration Via Factor Graph and Aided by Fish-eye Camera

Wen W., Bai X., Kan Y.C., Hsu L. T.

IEEE Transactions on Vehicular Technology (2019)

journal Q1
DOI
Four steps: a sky-pointing fisheye image is segmented into sky and buildings, the camera-satellite geometry is established, and satellites are projected onto the segmented image to label each as visible or blocked.

Key idea. A sky-pointing fish-eye camera segments the sky from the surrounding buildings; projecting the satellites onto the segmented image immediately reveals which ones are NLOS (figure). The classified measurements then feed a tightly coupled GNSS/INS factor graph.

Why it matters. The camera gives the receiver eyes — NLOS satellites are identified by direct observation rather than statistical guesswork, improving tightly coupled integration exactly where it struggles: the urban canyon. (IEEE Transactions on Vehicular Technology, 2019, Q1.)