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GPS/BDS/INS tightly coupled integration accuracy improvement using an improved adaptive interacting multiple model with classified measurement update

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Chinese Journal of Aeronautics 2018年第3期31卷 556-566页

作者： Houzeng HAN Jian WANG Mingyi DU Key Laboratory for Urban Geomatics of National Administration of Surveying Mapping and Geoinformation School of Geomatics and Urban Spatial Informatics Beijing University of Civil Engineering and Architecture

An Extended Kalman Filter（EKF） is commonly used to fuse raw Global Navigation Satellite System（GNSS） measurements and Inertial Navigation System（INS） derived measurements. However, the Conventional EKF（CEKF） suffers the problem for which the uncertainty of the statistical properties to dynamic and measurement models will degrade the *** this research, an Adaptive Interacting Multiple Model（AIMM） filter is developed to enhance performance. The soft-switching property of Interacting Multiple Model（IMM） algorithm allows the adaptation between two levels of process noise, namely lower and upper bounds of the process noise. In particular, the Sage adaptive filtering is applied to adapt the measurement covariance on line. In addition, a classified measurement update strategy is utilized, which updates the pseudorange and Doppler observations sequentially. A field experiment was conducted to validate the proposed algorithm, the pseudorange and Doppler observations from Global Positioning System（GPS） and Bei Dou Navigation Satellite System（BDS） were post-processed in differential *** results indicate that decimeter-level positioning accuracy is achievable with AIMM for GPS/INS and GPS/BDS/INS configurations, and the position accuracy is improved by 35.8%, 34.3% and 33.9% for north, east and height components, respectively, compared to the CEKF counterpartfor GPS/BDS/INS. Degraded performance for BDS/INS is obtained due to the lower precision of BDS pseudorange observations.

关键词： Adaptive filtering BeiDou navigation satellite system (BDS) Classified measurement update Global positioning system (GPS) Inertial navigation system (INS) Interacting multiple model tightly coupled

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tightly coupled SLAM/GNSS for Land Vehicle Navigation

Tightly Coupled SLAM/GNSS for Land Vehicle Navigation

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第五届中国卫星导航学术年会

作者： Jiantong Cheng Jonghyuk Kim Zhenyu Jiang Weihua Zhang College of Aerospace Science and Engineering National University of Defense Technology College of Engineering and Computer Science Australian National University

Simultaneous Localization and Mapping（SLAM） algorithm takes the advantages of online map building without any prior environment information and simultaneously location determining with the generated *** paper proposes an innovative navigation algorithm,tightly coupling of SLAM and *** GNSS signals are available,the GNSS raw measurements are fused with SLAM measurements to correct the errors of the system’s pose as well as reducing the uncertainty of the *** the GNSS-denied environments,the system operates at the stand-alone SLAM to provide continuous navigation *** the computational cost problem,Compressed Extended Kalman Filter（CEKF） is employed to the multi-sensor data *** simulation of the proposed algorithm is implemented in the simulated large-scale *** demonstrate that the proposed technique provides a high accuracy of trajectory tracking in complex environments,and improves greatly the performance of data association and loop-closure detection.

关键词： Simultaneous Localization and Mapping Compressed Extended Kalman Filter tightly coupled GNSS

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The Derivation and Evaluation of Algorithm of Anti-spoofing Attack on Loosely/tightly coupled GNSS/INS Integration System

The Derivation and Evaluation of Algorithm of Anti-spoofing ...

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第十一届中国卫星导航年会

作者： Liyuan Zhang Chao Sun Hongbo Zhao Wenquan Feng Changbiao Lei Haoqiang Liu School of Electronics and Information Engineering Beihang University Hefei Innovation Research Institute of Beihang University North Electronic Equipment Research Institute

The format of spoofing signal in Global Navigation Satellite System(GNSS) is identical to that of real navigation. Therefore, the spoofing has been a severe threat to GNSS. In loosely coupled GNSS/INS

关键词： spoofing detection coupled system loosely coupled tightly coupled

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The Optimized Design of the Integrated Navigation Filter

The Optimized Design of the Integrated Navigation Filter

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第三十九届中国控制会议

作者： Yanbing Guo Lingjuan miao Xi Zhang China Academy of Electronics and Information Technology China Electronics Technology Group Corporation School of Automation Beijing Institute of Technology

Since the raw pseudorange and pseudorange rate are taken as the measurements, the measurement equation of the tightly coupled SINS/GPS integrated navigation system is nonlinear. As a typical non-linear filtering algorithm, the Extended Kalman Filtering（EKF） linearizes the measurements and has high estimation accuracy in the tightly coupled SINS/GPS integrated navigation system. The state vector of the tightly coupled SINS/GPS integrated navigation system includes the states of two subsystems, therefore the dimension of the state vector is high. The dimension of the measurement vector depends on the number of received satellite signals. If many satellite signals are received, the dimension of the measurement vector is high. The high dimensions of the state vector and measurement vector will result in large computation load for the EKF. To solve this problem, this paper proposes an optimized filtering scheme based on the two-stage Kalman filtering and sequential Kalman filtering. In that case, the estimation accuracy is not seriously affected while the computation load is significantly reduced. The semi-physical simulation results prove the estimation accuracy of the proposed optimized filtering scheme.

关键词： tightly coupled EKF computation load two-stage Kalman filtering sequential Kalman filtering optimized filtering scheme

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