Real-time tightly coupled GNSS and IMU integration via Factor Graph Optimization

• URL: http://arxiv.org/abs/2603.03556v1
• Date: Tue, 03 Mar 2026 22:15:30 GMT
• Title: Real-time tightly coupled GNSS and IMU integration via Factor Graph Optimization
• Authors: Radu-Andrei Cioaca, Paul Irofti, Cristian Rusu, Gianluca Caparra, Andrei-Alexandru Marinache, Florin Stoican,
• Abstract summary: We present a real-time tightly coupled-IMU method that enables causal state estimation via incremental optimization with fixed-lag marginalization.<n>We evaluate its performance in a highly urbanized-degraded environment using the UrbanNav dataset.
• Score: 3.306326078788103
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Reliable positioning in dense urban environments remains challenging due to frequent GNSS signal blockage, multipath, and rapidly varying satellite geometry. While factor graph optimization (FGO)-based GNSS-IMU fusion has demonstrated strong robustness and accuracy, most formulations remain offline. In this work, we present a real-time tightly coupled GNSS-IMU FGO method that enables causal state estimation via incremental optimization with fixed-lag marginalization, and we evaluate its performance in a highly urbanized GNSS-degraded environment using the UrbanNav dataset.

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