Multi-Sensor Fusion Positioning Method Based on Batch Inverse Covariance Intersection and IMM

For mass application positioning demands, the current single positioning sensor cannot provide reliable and accurate positioning. Herein, we present batch inverse covariance intersection (BICI) and BICI with interacting multiple model (BICI-IMM) multi-sensor fusion positioning methods, which are based on the batch form of the sequential inverse covariance intersection (SICI) fusion method. Meanwhile, it is proved that the BICI is robust. Compared with SICI, BICI-IMM reduces estimation error variance of the motion model and has less conservativeness. The BICI-IMM algorithm improves the accuracy of local filtering by interacting with multiple models and realizes global fusion estimation based on BICI. The validity of the BICI and BICI-IMM algorithm are demonstrated by two simulations and experiments in the open and semi-open scenes, and its positioning accuracy relations are shown. In addition, it is demonstrated that the BICI-IMM algorithm can improve the positioning accuracy in the actual scenes.