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

Rui JIANG; Jun LI; Youyun XU; Xiaoming WANG; Dapeng LI

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

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

Papers | 更新时间：2024-06-05

- Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter
- Journal on Communications Vol. 43, Issue 8, Pages: 78-89(2022)
- 作者机构：
  
  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
- 作者简介：
- 基金信息：
- DOI：10.11959/j.issn.1000-436x.2022147
  CLC： TN967.2
- Online First：2022-08，
  
  Published：25 August 2022
- 稿件说明：
移动端阅览
Rui JIANG, Jun LI, Youyun XU, et al. Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter[J]. Journal on Communications, 2022, 43(8): 78-89.
DOI：

Rui JIANG, Jun LI, Youyun XU, et al. Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter[J]. Journal on Communications, 2022, 43(8): 78-89. DOI： 10.11959/j.issn.1000-436x.2022147.

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。

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.

关键词

Keywords

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