Trajectory Recovery Based on Interval Forward-Backward Propagation Algorithm Fusing Multi-Source Information

In the tracking scheme in which global navigation satellite system (GNSS) measurement is temporally lost or the sampling frequency is insufficient, dead reckoning based on the inertial measurement unit (IMU) and other location-related information can be fused as a supplement for real-time trajectory recovery. The tracking scheme based on interval analysis outputs interval results containing the ground truth, which gives it the advantage of convenience in multi-source information fusion. In this paper, a trajectory-recovery algorithm based on interval analysis is proposed, which can conveniently fuse GNSS measurement, IMU data, and map constraints and then output an interval result containing the actual trajectory. In essence, the location-related information such as satellite measurement, inertial data, and map constraints is collected by practical experiments and then converted into interval form. Thereby, the interval-overlapping calculation is performed through forward and backward propagation to accomplish the trajectory recovery. The practical experimental results show that the trajectory recovery accuracy based on the proposed algorithm performs better than the traditional Kalman filter algorithm, and the estimated interval results deterministically contain the actual trajectory. More importantly, the proposed interval algorithm is approved to be convenient to fuse additional location-related information.