RT Journal Article SR Electronic T1 Factor Graphs for Navigation Applications: A Tutorial JF NAVIGATION: Journal of the Institute of Navigation JO NAVIGATION FD Institute of Navigation SP navi.653 DO 10.33012/navi.653 VO 71 IS 3 A1 Taylor, Clark A1 Gross, Jason YR 2024 UL https://navi.ion.org/content/71/3/navi.653.abstract AB This tutorial presents the factor graph, a recently introduced estimation framework that is a generalization of the Kalman filter. An approach for constructing a factor graph, with its associated optimization problem and efficient sparse linear algebra formulation, is described. A comparison with Kalman filters is presented, together with examples of the generality of factor graphs. A brief survey of previous applications of factor graphs to navigation problems is also presented. Source code for the extended Kalman filter comparison and for generating the graphs in this paper is available at https://github.com/cntaylor/factorGraph2DsatelliteExample.