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A new Fault Detection and Exclusion (FDE) method enhances deep integration of BeiDou Navigation Satellite System (BDS) and Inertial Navigation Systems (INS). This approach effectively identifies and removes navigation errors for improved positioning accuracy.

Keywords:
BDSINSRAIMdeep integrationfault detection and exclusionvector tracking loop

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Area of Science:

  • Navigation Systems Engineering
  • Satellite Navigation
  • Sensor Fusion

Background:

  • Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) fusion enhances navigation robustness, particularly in poor signal conditions.
  • Deep Integration (DI) architecture offers superior tracking and positioning compared to loosely and tightly coupled systems.
  • Vector tracking in DI systems can lead to error propagation across channels.

Purpose of the Study:

  • To propose a novel Fault Detection and Exclusion (FDE) method for deeply integrated BeiDou Navigation Satellite System (BDS)/INS.
  • To address the challenge of error propagation in DI vector tracking architectures.
  • To ensure reliable navigation performance in complex environments.

Main Methods:

  • Development of an FDE method utilizing pre-filters' outputs and integration filter's estimations.
  • Formation of test statistics to detect and exclude navigation errors.
  • Simulation-based verification using a software receiver.

Main Results:

  • The proposed FDE method effectively detects and excludes both step errors and Slowly Growing Errors (SGEs).
  • Simulation results confirm the method's effectiveness in monitoring navigation system performance.
  • The FDE approach demonstrated robust error handling capabilities.

Conclusions:

  • The developed FDE method is effective for deeply integrated BDS/INS navigation systems.
  • The method provides a reliable solution for mitigating error propagation in DI architectures.
  • The FDE technique is suitable for real-time implementation due to its simplicity and efficiency.