Unified Framework of Multisource Synergistic Fusion System for Cross-Scenario Navigation

Navigation with multisource information in cross-scenario is affected by is affected by the limitations of the system framework. To improve this performance, a unified synergistic fusion navigation (SFN) framework is proposed, aiming to seamlessly fuse all available navigation information. Furthermore, a quantitative evaluation-based navigation system analysis approach is proposed to facilitate synergistic decision-making, drawing inspiration from opinion dynamics. The framework integrates the versatility of multisource information access, robustness against anomalies, and high precision of navigation results. In addition, a quasi-HIL navigation simulation system for rapid hierarchical development of navigation algorithm is proposed to reduce costs and enhance the scalability of the navigation system. To develop and validate the effectiveness of the SFN method, a real experimental platform was constructed and simulation/real-world experiments were carried out, which demonstrated the high accuracy, environmental adaptability, and robustness of our algorithm across different scenarios.