Factor Graph Optimization for GNSS and GNSS/INS

factor graphoptimizationGNSS/INSEKF alternativeprecise positioning

We use factor graphs and related probabilistic optimization to build:

GNSS/INS fusion alternatives to EKF pipelines
Constraint-aware positioning
Research platforms for urban GNSS precise positioning

Related Publications

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3D Mapping Database Aided GNSS Based Collaborative Positioning Using Factor Graph Optimization

Zhang G, Ng H. F, Hsu L. T

IEEE Transactions on Intelligent Transportation Systems (2020)

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A Novel INS/USBL Integrated Navigation Scheme Via Factor Graph Optimization

Zhang L, Hsu L. T. and Zhang T

IEEE Transactions on Vehicular Technology (2022)

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An Improved Inertial Preintegration Model in Factor Graph Optimization for High Accuracy Positioning of Intelligent Vehicles

Zhang L, Wen W, Hsu L. T, Zhang T

IEEE Transactions on Intelligent Vehicles (2023)

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DGNSS Corrected Pseudorange and Time-Differenced Carrier Phase (TDCP) Measurements using Differentiable Factor Graph Optimization (DFGO)

Hoi-Fung Ng, Penghui Xu, Yihan Zhong, Guohao Zhang, Weisong Wen, Li-Ta Hsu

ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation (2024)

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Enhancing GNSS Positioning Accuracy for Road Monitoring Systems: A Factor Graph Optimization Approach Aided by Geospatial Information

Zhong Y, Hu R, Bai X, Li X, Hsu L. T, Wen W

IEEE Transactions on Instrumentation and Measurement (2024)

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Enhancing Smartphone-based Pedestrian Positioning: Using Factor Graph Optimization with Indoor/Outdoor Detection for 3DMA GNSS/Visual-Inertial State Estimation

Ho H. Y, Ng H. F, Wen W, Gu Y, Hsu L. T

Journal of Data Science and Intelligent Systems (2024)

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conference

Factor Graph Optimization Based Multi Epoch Ambiguity Resolution for GNSS RTK and its Evaluation in Hong Kong Urban Canyons

Yuan Li, Xikun Liu, Weisong Wen, Li-Ta Hsu, Yilong Yuan, Guangyu Bian, Qiaoyun Chen

ION GNSS+, The International Technical Meeting of the Satellite Division of The Institute of Navigation (2024)

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journal Featured

Factor Graph Optimization for GNSS/INS Integration: A Comparison with the Extended Kalman Filter

Wen W, Pfeifer T, Bai X, Hsu L. T

Navigation, Journal of Institute of Navigation (2021)

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journal

Factor Graph Optimization-based GNSS PPP-RTK: An Alternative Platform to Study Urban GNSS Precise Positioning

Xin S, Geng J, Hsu L. T

IEEE Transactions on Aerospace and Electronic Systems (2024)

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journal

Factor Graph Optimization-Based Smartphone IMU-Only Indoor SLAM With Multi-Hypothesis Turning Behavior Loop Closures

Bai S, Wen W, Hsu L. T, Yang P

IEEE Transactions on Aerospace and Electronic Systems (2024)

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GNSS Outlier Mitigation via Graduated Non-Convexity Factor Graph Optimization

Wen W, Zhang G, Hsu L. T

IEEE Transactions on Vehicular Technology (2022)

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conference

GNSS/Map Integration with Batch Factor Graph Optimization for Reliable Trajectory Estimation in Urban Canyon

Yihan Zhong, Hoi-Fung Ng, Li-Ta Hsu, Weisong Wen

2025 IEEE/ION Position, Location and Navigation Symposium (PLANS) (2025)

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journal

GNSS/Visual/IMU/Map Integration Via Sliding Window Factor Graph Optimization for Vehicular Positioning in Urban Areas

Bai X, Hsu L. T

IEEE Transactions on Intelligent Vehicles (2024)

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journal

Grid-based 3DMA GNSS with clustering and Doppler velocity using factor graph optimisation

Ng H. F, Zhong Q, Groves P, Hsu L. T

The Journal of Navigation (2025)

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journal

Integrity-Constrained Factor Graph Optimization for GNSS Positioning in Urban Canyons

Xia X, Wen W, Hsu L. T

NAVIGATION: Journal of the Institute of Navigation (2024)

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journal

Intelligent Environment-Adaptive GNSS/INS Integrated Positioning with Factor Graph Optimization

Li Z, Lee P. H, Hung T. H. M, Zhang G, Hsu L. T

Remote Sensing (2023)

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journal

Multi-Epoch Kriging-Based 3D Mapping-Aided GNSS and Doppler Measurement Fusion using Factor Graph Optimization

Ng H. F, Hsu L. T, Zhang G

NAVIGATION: Journal of the Institute of Navigation (2023)

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journal

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)

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journal

Tightly Coupled Integrated Navigation System Via Factor Graph for UAV Indoor Localization

Yang S, Hsu L.T

Aerospace Science and Technology (2021)

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journal

Tightly joined positioning and control model for unmanned aerial vehicles based on factor graph optimization

Yang P, Wen W, Bai S, Hsu L. T

IEEE Transactions on Vehicular Technology (2025)

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journal

Bai X, Wen W, Hsu L. T

IEEE Transactions on Aerospace and Electronic Systems (2022)

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journal

Trajectory Smoothing Using GNSS/PDR Integration Via Factor Graph Optimization in Urban Canyons

Zhong Y, Wen W, Hsu L. T

IEEE Internet of Things Journal (2024)

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