Split Covariance Intersection Algorithm for Integrated Navigation System Considering Lever Arm Error

NAVIGATE

Table of Contents

STATISTICS

Viewed1699

Downloads1044

Split Covariance Intersection Algorithm for Integrated Navigation System Considering Lever Arm Error

[HTML] PDF下载 (1044)

[1]ZHANG Dalong,YU Gang,LI Zhiyuan,et al.Split Covariance Intersection Algorithm for Integrated Navigation System Considering Lever Arm Error[J].Journal of Zhengzhou University (Engineering Science),2022,43(03):8-14.[doi:10.13705/j.issn.1671-6833.2022.03.013]

Copy

Journal of Zhengzhou University (Engineering Science)[ISSN 1671-6833/CN 41-1339/T] Volume: 43卷 Number of periods: 2022 03 Page number: 8-14 Column: Public date: 2022-04-10

Title:: Split Covariance Intersection Algorithm for Integrated Navigation System Considering Lever Arm Error

Author(s):: ZHANG Dalong¹; YU Gang¹; LI Zhiyuan²; HAN Gangtao¹; 1.School of Information Engineering, Zhengzhou University, Zhengzhou 450001, China;
2.Industry Development and Promotion Center，Ministry of Industry and Information Technology of the People′s Republic of China, Beijing 100036, China

Keywords:: split CIF; integrated navigation; information fusion; fusion consistency; lever arm error

CLC:: TP393；TP183

DOI:: 10.13705/j.issn.1671-6833.2022.03.013

Abstract:: In the information fusion procedures of the traditional Beidou/INS integrated navigation systems, the correlation between the estimated sources was not considered, which could not guarantee the consistency of information fusion, a split covariance intersection filter(split CIF)-based information fusion algorithm was proposed.The algorithm separated the error covariance matrix into correlated part and independent part for processing, respectively.Consistent fusion estimation was obtained by measuring information and optimal filter gain updated in real time, which overcame the problem of the filter over-convergence caused by the fusion correlation data.in addition, in high precision integrated navigation, the lever arm error is an important error source.The accuracy of navigation positioning results could decrease severely for Beidou/INS integrated navigation systems.In this paper, the method of static lever arm measurement and error compensation for INS update information was used to reduce the influence of lever arm effect and further to improve the positioning accuracy.The simulation results showed that split CIF considering lever arm error compensation had good accuracy for lever arm estimation and high navigation accuracy.The maximum error accuracy of east velocity was 0.041 m/s, and the maximum accuracy of latitude error was 0.495 m.Compared with the compensated Kalman filter, it increased by 45.8% and 34.0%, and compared with EKF, the error accuracy increased by 55.1% and 10.0%, respectively.

References:: [1] 孟佳帅. 光纤陀螺捷联惯导系统杆臂效应补偿方法的设计与实现[D]. 哈尔滨:哈尔滨工程大学,2018.
[2] 王艳梅,王海生. SINS / GPS 组合导航系统 Kalman 滤波仿真研究 [ J] . 沈阳理工大学学报, 2019, 38 (1) :58-63.
[3] 严恭敏,邓瑀. 传统组合导航中的实用 Kalman 滤波技术评述[ J] . 导航定位与授时,2020,7(2) :50-64.
[4] JULIER S, UHLMANN J. General decentralized data fusion with covariance intersection (CI) [M] . Los Angeles:CRC Press,2001.
[5] LI H,NASHASHIBI F,YANG M. Split covariance intersection filter:theory and its application to vehicle localization[ J ] . IEEE transactions on intelligent transportation systems,2013,14(4) :1860-1871.
[6] LI H,NASHASHIBI F. Cooperative multi-vehicle localization using split covariance intersection filter [ J ] . IEEE intelligent transportation systems magazine, 2013,5(2) :33-44.
[7] FANG S S,LI H,YANG M. Multi-vehicle cooperative SLAM using iterated split covariance intersection filter [ C ] / / 2021 IEEE Intelligent Vehicles Symposium ( IV) . Piscataway:IEEE,2021:947-952.
[8] CHEN X F,YANG M,YUAN W,et al. Split covariance intersection filter based front-vehicle track estimation for vehicle platooning without communication [ C ] / / 2020 IEEE Intelligent Vehicles Symposium ( IV) . Piscataway:IEEE,2020:1510-1515.
[9] LIMA A,BONNIFAIT P,CHERFAOUI V,et al. Data fusion with split covariance intersection for cooperative perception[C] / / 2021 IEEE International Intelligent Transportation Systems Conference ( ITSC ). Piscataway: IEEE,2021:1112-1118.
[10] LI L,YANG M. Joint localization based on split covariance intersection on the lie group [ J] . IEEE transactions on robotics,2021,37(5) :1508-1524.
[11] 李江华. 航空重力测量系统中杆臂效应误差补偿技术[D] . 长沙:国防科学技术大学,2009.
[12] 王均晖,孙蕊,程琦,等. 无人机组合导航直接法与间接法滤波方式比较[ J] . 北京航空航天大学学报, 2020,46(11) :2156-2167.
[13] 丁国强,马军霞,熊明,等. 大失准角传递对准杆臂效应影响研究[ J] . 郑州大学学报( 工学版) ,2015, 36(2) :110-114.
[14] 黄珏,颜冰,陈浩文,等. 基于分离协方差交叉的全局反馈航迹融合[ J] . 华中科技大学学报(自然科学版) ,2016,44(1) :52-55.
[15] LI H. On w-optimization of the split covariance intersection filter[EB / OL] . ( 2021 - 02 - 13) [ 2021 - 06 - 08] . https: / / arxiv. org / abs/ 2101. 10159.
[16] 严恭敏,翁浚. 捷联惯导算法与组合导航原理[ M] . 西安:西北工业大学出版社,2019.
[17] 严恭敏,WANG J L,周馨怡. 基于实测轨迹的高精度捷联惯导模拟器[ J] . 导航定位学报,2015,3( 4) : 27-31,37.
[18] 林雪原,李荣冰,高青伟. 组合导航及其信息融合方法[M] . 北京:国防工业出版社,2017

Similar References:

Memo

Last Update: 2022-04-29