基于因子图的状态估计方法

State Estimation Method Based on Factor Graph

针对异步、乱序和多状态相关量测下的状态估计问题,结合因子图模型的数据表示方法,给出了一种基于因子图的状态估计方法,详细推导了动态系统的因子图模型建模方法、状态求解过程。

In this paper,a state estimation method based on factor graph is presented to deal with the state estimation problems of asynchronous,out-of-order,and multi-state related measurement,by referring to the data representation method of factor graph model.The modeling method of factor graph model and the state solving process of dynamic system are derived in detail.