Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU System

The global navigation satellite system (GNSS) struggles to deliver the precision and reliability required for positioning, navigation, and timing (PNT) services in environments with severe interference. Fifth-generation (5G) cellular networks, with their low latency, high bandwidth, and large capacity, offer a robust communication infrastructure, enabling 5G base stations (BSs) to extend coverage into regions where traditional GNSSs face significant challenges. However, frequent multi-sensor faults, including missing alarm thresholds, uncontrolled error accumulation, and delayed warnings, hinder the adaptability of navigation systems to the dynamic multi-source information of complex scenarios. This study introduces an advanced, tightly coupled GNSS/5G/IMU integration framework designed for distributed PNT systems, providing all-source fault detection with weighted, robust adaptive filtering. A weighted, robust adaptive filter (MCC-WRAF), grounded in the maximum correntropy criterion, was developed to suppress fault propagation, relax Gaussian noise constraints, and improve the efficiency of observational weight distribution in multi-source fusion scenarios. Moreover, we derived the intrinsic relationships of filtering innovations within wireless measurement models and proposed a time-sequential, observation-driven full-source FDE and sensor recovery validation strategy. This approach employs a sliding window which expands innovation vectors temporally based on source encoding, enabling real-time validation of isolated faulty sensors and adaptive adjustment of observational data in integrated navigation solutions. Additionally, a covariance-optimal, inflation-based integrity protection mechanism was introduced, offering rigorous evaluations of distributed PNT service availability. The experimental validation was carried out in a typical outdoor scenario, and the results highlight the proposed method's ability to mitigate undetected fault impacts, improve detection sensitivity, and significantly reduce alarm response times across step, ramp, and multi-fault mixed scenarios. Additionally, the dynamic positioning accuracy of the fusion navigation system improved to 0.83 m (1σ). Compared with standard Kalman filtering (EKF) and advanced multi-rate Kalman filtering (MRAKF), the proposed algorithm achieved 28.3% and 53.1% improvements in its 1σ error, respectively, significantly enhancing the accuracy and reliability of the multi-source fusion navigation system.