ION Webinar: EKF vs FGO — Comparison for GNSS/INS Integration (June 2021)

Prof. Li-Ta Hsu delivered a 60-minute ION Webinar on 28 June 2021 to the global Institute of Navigation community. The topic — Factor Graph Optimization for GNSS/INS Integration: A Comparison with the Extended Kalman Filter — compared the classical Extended Kalman Filter approach to tightly-coupled GNSS / INS integration against the emerging Factor Graph Optimization framework, particularly under challenging urban-canyon conditions. The recording — currently the most-viewed video on the ION YouTube channel — is freely available.

The webinar topic became the foundation of the lab’s signature FGO-vs-EKF paper (Factor Graph Optimization for GNSS/INS Integration: A Comparison with the Extended Kalman Filter, Wen-Pfeifer-Bai-Hsu, NAVIGATION Vol 68 No 2), which later received the 2023 Most Cited Manuscript Award at ION GNSS+ 2024 Baltimore.