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

Abstract

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

CLC Number:

TN967.2

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.

Figures/Tables 17

References 27

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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

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

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