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arXiv 2103.10696eess.SYcs.SY
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紧耦合GNSS/INS导航系统中的鲁棒状态与保护级估计

Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system

Shuchen Liu, Kaizheng Wang, Dirk Abel

备注：
This work is published in Springer Nature GPS Solutions: https://link.springer.com/article/10.1007/s10291-023-01447-z
发表信息：
Liu, S., Wang, K. & Abel, D. Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system. GPS Solut 27, 111 (2023). https://doi.org/10.1007/s10291-023-01447-z
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AI总结：

针对城市环境中GNSS信号干扰影响导航状态估计与保护级生成的问题，提出融合扩展H∞滤波器鲁棒状态估计与zonotope保护级计算的紧耦合GNSS/INS导航方案，经实测验证精度、鲁棒性更优且可实时应用。

摘要：

在交通出行类自主应用中，车辆状态的高速率、高精度估计通过融合全球导航卫星系统（GNSS）与惯性传感器的测量值实现。城市环境中的卫星信号干扰，以及由此导致的卫星观测值参数化效果不佳，往往会影响状态估计及其保护级生成的性能。为此，我们提出了一种创新方案，采用扩展H∞滤波器（EHF）实现鲁棒状态估计，并使用zonotope（zonotope，多面体 zonotope）生成保护级。该方案是基于惯性导航系统、由GPS/Galileo双星座卫星导航系统辅助的紧耦合导航系统的组成部分，具体采用了GNSS伪距和Δ距观测值。对真实世界数据集进行后处理的实验结果表明，在多种GNSS测量参数化方式和环境条件下，EHF在导航精度与鲁棒性方面相较传统扩展卡尔曼滤波器具有显著优势。基于zonotope的保护级计算被验证是有效的，计算成本可控，且具备实时实现的可行性。

英文摘要：

In autonomous applications for mobility and transport, a high-rate and highly accurate vehicle-state estimation is achieved by fusing measurements of global navigation satellite systems (GNSS) and inertial sensors. The state estimation and its protection-level generation often suffer from satellite-signal disturbances in urban environments and subsequent poor parametrization of the satellite observables. Thus, we propose an innovative scheme involving an extended H_infinity filter (EHF) for robust state estimation and zonotope for the protection-level generation. This scheme is shown as part of a tightly coupled navigation system based on an inertial navigation system and aided by the GPS/Galileo dual-constellation satellite navigation system. Specifically, GNSS pseudorange and deltarange observables are utilized. The experimental results of post-processing a real-world dataset show significant advantages of EHF against a conventional extended Kalman filter regarding the navigation accuracy and robustness under various GNSS-measurement parametrizations and environmental circumstances. The zonotope-based protection-level calculation is proven valid, computationally affordable, and feasible for real-time implementations.

机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。

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