Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter
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...
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| Format: | Article |
| Language: | zho |
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Editorial Department of Journal on Communications
2022-08-01
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| Series: | Tongxin xuebao |
| Subjects: | |
| Online Access: | http://www.joconline.com.cn/zh/article/doi/10.11959/j.issn.1000-436x.2022147/ |
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| author | Rui JIANG Jun LI Youyun XU Xiaoming WANG Dapeng LI |
| author_facet | Rui JIANG Jun LI Youyun XU Xiaoming WANG Dapeng LI |
| author_sort | Rui JIANG |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-315508a6db9c4f23b1a116c1e689d7cb |
| institution | Kabale University |
| issn | 1000-436X |
| language | zho |
| publishDate | 2022-08-01 |
| publisher | Editorial Department of Journal on Communications |
| record_format | Article |
| series | Tongxin xuebao |
| spelling | doaj-art-315508a6db9c4f23b1a116c1e689d7cb2025-01-14T06:28:56ZzhoEditorial Department of Journal on CommunicationsTongxin xuebao1000-436X2022-08-0143788959392288Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filterRui JIANGJun LIYouyun XUXiaoming WANGDapeng LIAt 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.http://www.joconline.com.cn/zh/article/doi/10.11959/j.issn.1000-436x.2022147/adaptive filteringfederated filteringfault detection and isolationintegrated navigation |
| spellingShingle | Rui JIANG Jun LI Youyun XU Xiaoming WANG Dapeng LI Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter Tongxin xuebao adaptive filtering federated filtering fault detection and isolation integrated navigation |
| title | Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter |
| title_full | Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter |
| title_fullStr | Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter |
| title_full_unstemmed | Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter |
| title_short | Fault tolerant GPS-AOA-SINS integrated navigation algorithm based on federated Kalman filter |
| title_sort | fault tolerant gps aoa sins integrated navigation algorithm based on federated kalman filter |
| topic | adaptive filtering federated filtering fault detection and isolation integrated navigation |
| url | http://www.joconline.com.cn/zh/article/doi/10.11959/j.issn.1000-436x.2022147/ |
| work_keys_str_mv | AT ruijiang faulttolerantgpsaoasinsintegratednavigationalgorithmbasedonfederatedkalmanfilter AT junli faulttolerantgpsaoasinsintegratednavigationalgorithmbasedonfederatedkalmanfilter AT youyunxu faulttolerantgpsaoasinsintegratednavigationalgorithmbasedonfederatedkalmanfilter AT xiaomingwang faulttolerantgpsaoasinsintegratednavigationalgorithmbasedonfederatedkalmanfilter AT dapengli faulttolerantgpsaoasinsintegratednavigationalgorithmbasedonfederatedkalmanfilter |