密切合的GNSS/5G/IMU系统的多源,容错和强大的导航方法
Zhongliang Deng1, Zhichao Zhang1, Zhenke Ding1
1School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, China.
Sensors (Basel, Switzerland)
|February 13, 2025
概括
本研究提出了一个新的GNSS/5G/IMU集成框架,用于强大的定位,导航和定时 (PNT) 服务. 它通过使用先进的自适应过技术,增强了故障检测,并在具有挑战性的环境中提高了准确性.
科学领域:
- 导航系统工程 导航系统工程
- 信号处理 信号处理
- 传感器融合式传感器
背景情况:
- 全球导航卫星系统 (GNSS) 由于干扰而面临精度和可靠性的限制.
- 第五代 (5G) 网络提供了增强的通信基础设施,以扩大覆盖范围.
- 导航系统中的多传感器故障会在动态环境中降低性能.
研究的目的:
- 为分布式PNT系统开发一个先进的,紧密合的GNSS/5G/IMU集成框架.
- 实施强大的故障检测和传感器恢复机制,以提高导航可靠性.
- 提高定位,导航和定时服务的准确性和弹性.
主要方法:
- 开发了一种加权,强大的自适应波器 (MCC-WRAF),基于多源融合的最大电流度标准.
- 提出了一个时间顺序,观察驱动的全源故障检测和传感器恢复验证策略,使用滑动窗口.
- 引入了一个基于通货膨胀的协变优化完整性保护机制,用于PNT服务的可用性.
主要成果:
- 拟议的框架有效地减轻未被检测到的故障影响,并提高检测灵敏度.
- 在各种故障场景 (步骤,坡道,混合) 中,报警响应时间显著减少.
- 动态定位精度提高到0.83米 (1σ),优于EKF和MRAKF的性能分别为28.3%和53.1%.
结论:
- 集成的GNSS/5G/IMU系统具有先进的故障检测,提高了导航准确性和可靠性.
- 在复杂的场景中,MCC-WRAF和验证策略有效处理多传感器故障.
- 这种方法为在具有挑战性的环境中提供定位,导航和定时服务提供了强大的解决方案.
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