Loosely Coupled Factor Graph Optimization for Pseudolite-Augmented Navigation

• URL: http://arxiv.org/abs/2605.24980v1
• Date: Sun, 24 May 2026 10:18:46 GMT
• Title: Loosely Coupled Factor Graph Optimization for Pseudolite-Augmented Navigation
• Abstract summary: This paper presents a loosely coupled factor graph optimization framework that fuses the least-squares (LS) solutions with inertial measurement unit (IMU) data.<n>The evaluation considers low visibility scenarios with four high-elevation satellites and up to two PL transmitters over an 80s window.<n>Compared to a-IMU baseline, PL transmitters further improves positioning accuracy, with performance depending on geometry.
• Score: 3.5757009186345385
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: In Global Navigation Satellite System (GNSS)-degraded environments, pseudolites (PLs) provide additional signal sources to enhance positioning performance, but their integration in optimization-based frameworks remains limited. This paper presents a loosely coupled factor graph optimization (FGO) framework that fuses the GNSS/PL least-squares (LS) solutions with inertial measurement unit (IMU) data. The evaluation considers low GNSS visibility scenarios with four high-elevation GNSS satellites and up to two PL transmitters over an 80~s window. FGO achieves a 22.8\% to 41.3\% reduction in mean 3D error compared to standard LS methods. Compared to a GNSS-IMU baseline, incorporating PL transmitters further improves positioning accuracy, with performance depending on geometry.

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