In order to solve the problem of decreased navigation performance of the Global Navigation Satellite System (GNSS)/inertial navigation system (INS) integrated navigation systems in GNSS-denied environments, and to improve the navigation accuracy and robustness of the navigation system, a novel adaptive federated filter with a feedback scheme for a GNSS/INS/visual odometry (VO) integrated navigation system is proposed in this paper. A visual-inertial odometry system model with a multi-state constraint Kalman filter structure based on a polar geometry and trifocal tensor geometry between different images is established, which can provide better navigation accuracy in GNSS-denied environments. Moreover, a new method to obtain the information allocation factor according to the different navigation performances of local filters is deduced in this paper, which has low computational complexity and a simple structure. Meanwhile, an abnormal measurement detection algorithm based on fuzzy...

中文翻译：

---

用于GNSS / INS / VO组合导航系统的新型自适应联合滤波器

为了解决全球导航卫星系统（GNSS）/惯性导航系统（INS）集成导航系统在GNSS受限环境中导航性能下降的问题，并提高导航系统的导航精度和鲁棒性，针对GNSS / INS /视觉里程计（VO）组合导航系统，提出了一种具有反馈方案的自适应联合滤波器。建立了基于惯性几何和三焦点张量几何的多状态约束卡尔曼滤波结构的视觉惯性里程系统模型，该模型可以在被GNSS拒绝的环境中提供更好的导航精度。此外，推导了一种根据局部滤波器的不同导航性能来获取信息分配因子的新方法，计算复杂度低，结构简单。同时，提出了一种基于模糊...