基于联邦卡尔曼滤波器的容错GPS-AOA-SINS组合导航算法

doi:10.11959/j.issn.1000-436x.2022147

通信学报 ›› 2022, Vol. 43 ›› Issue (8): 78-89.doi: 10.11959/j.issn.1000-436x.2022147

基于联邦卡尔曼滤波器的容错GPS-AOA-SINS组合导航算法

蒋锐¹^,², 李俊¹^,², 徐友云¹^,², 王小明¹^,², 李大鹏¹^,²

¹ 南京邮电大学通信与信息工程学院，江苏南京 210003
² 南京邮电大学通信与网络技术国家工程研究中心，江苏南京 210003

修回日期:2022-07-19 出版日期:2022-08-25 发布日期:2022-08-01
作者简介:蒋锐（1985- ），男，江苏南京人，博士，南京邮电大学副教授，主要研究方向为传感器定位、人工智能等
李俊（1998- ），女，安徽马鞍山人，南京邮电大学硕士生，主要研究方向为组合导航定位
徐友云（1966- ），男，浙江兰溪人，博士，南京邮电大学教授，主要研究方向为传感器定位、移动通信等
王小明（1986- ），男，山东聊城人，博士，南京邮电大学副教授，主要研究方向为传感器定位、无线移动通信、人工智能等
李大鹏（1982- ），男，河南平顶山人，博士，南京邮电大学教授，主要研究方向为传感器定位、移动通信、群体智能通信等
基金资助:
国家自然科学基金资助项目(61971241);国家自然科学基金资助项目(62071245)

Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter

Rui JIANG¹^,², Jun LI¹^,², Youyun XU¹^,², Xiaoming WANG¹^,², Dapeng LI¹^,²

¹ School of Communications and Information Engineering, Nanjing University of Posts and Telecommunications, Nanjing 210003, China
² National Engineering Research Center of Communications and Networking, Nanjing University of Posts and Telecommunications, Nanjing 210003, China

Revised:2022-07-19 Online:2022-08-25 Published:2022-08-01
Supported by:
The National Natural Science Foundation of China(61971241);The National Natural Science Foundation of China(62071245)

摘要/Abstract

摘要：

目前，全球定位系统（GPS）被广泛应用于室外定位。随着城市发展，定位环境复杂化，定位精度急剧下降。因此，采用GPS/5G基站到达角定位/捷联惯性导航系统（GPS-AOA-SINS）的组合定位方案，并提出一种基于联邦卡尔曼滤波的容错组合导航算法。该算法基于GPS-AOA-SINS组合定位方案，在联邦卡尔曼子滤波器和主滤波器之间加入故障检测，自适应调整故障子滤波器的滤波增益矩阵。实验表明，所提算法可以有效检测系统故障并对其进行实时处理，提高系统的可靠性。

关键词: 自适应滤波, 联邦滤波, 故障检测与隔离, 组合导航

Abstract:

At present, global positioning system (GPS) was widely used in outdoor positioning.However, the continuous development of cities complicated the positioning environment, resulting in a sharp decline in positioning accuracy.Therefore, the integrated positioning scheme of GPS/5G base station angle of arrival positioning/strap-down inertial navigation system (GPS-AOA-SINS) was adopted, and a fault-tolerant integrated navigation algorithm based on federated Kalman filter was proposed.Based on the GPS-AOA-SINS integrated positioning scheme, the algorithm added fault detection between the federated Kalman sub filter and the main filter, and adaptively adjusted the filter gain matrix of the fault sub filter.Experiments show that the proposed algorithm can effectively detect system faults and deal with them in real time, so as to improve the reliability of the system.

Key words: adaptive filtering, federated filtering, fault detection and isolation, integrated navigation

中图分类号:

TN967.2

蒋锐, 李俊, 徐友云, 王小明, 李大鹏. 基于联邦卡尔曼滤波器的容错GPS-AOA-SINS组合导航算法[J]. 通信学报, 2022, 43(8): 78-89.

Rui JIANG, Jun LI, Youyun XU, Xiaoming WANG, Dapeng LI. Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter[J]. Journal on Communications, 2022, 43(8): 78-89.

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方法	RMSE均值/m	RMSE最大值/m
隔离故障子滤波器	1.703 5	2.072
一阶状态预测	1.673 5	1.905
自适应故障处理	1.672 8	1.946
自适应故障处理+故障子滤波器时间更新	1.668 9	1.887

基于联邦卡尔曼滤波器的容错GPS-AOA-SINS组合导航算法

Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter

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