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首页> 外文期刊>The Journal of Navigation >Dynamically Adjusting Filter Gain Method for Suppressing GNSS Observation Outliers in Integrated Navigation
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Dynamically Adjusting Filter Gain Method for Suppressing GNSS Observation Outliers in Integrated Navigation

机译：组合导航中用于抑制GNSS观测值异常的动态调整滤波器增益方法

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摘要

Global Navigation Satellite Systems (GNSSs) are easily influenced by the external environment. Signals may be lost or become abnormal thereby causing outliers. The filter gain of the standard Kalman filter of a loosely coupled GNSS/inertial navigation system cannot change with the outliers of the GNSS, causing large deviations in the filtering results. In this paper, a method based on a chi(2)-test and a dynamically adjusting filter gain method are proposed to detect and separately to suppress GNSS observation outliers in integrated navigation. An indicator of an innovation vector is constructed, and a chi(2)-test is performed for this indicator. If it fails the test, the corresponding observation value is considered as an outlier. A scale factor is constructed according to this outlier, which is then used to lower the filter gain dynamically to decrease the influence of outliers. The simulation results demonstrate that the observation outlier processing method does not affect the normal values under normal circumstances; it can also discriminate between single and continuous outliers without errors or omissions. The impact time of outliers is greatly reduced, and the system performance is improved by more than 90%. Experimental results indicate that the proposed methods are effective in suppressing GNSS observation outliers in integrated navigation.
机译：全球导航卫星系统（GNSS）容易受到外部环境的影响。信号可能丢失或变得异常，从而导致异常。松散耦合的GNSS /惯性导航系统的标准Kalman滤波器的滤波器增益不会随GNSS的异常值而变化，从而导致滤波结果出现较大偏差。本文提出了一种基于chi（2）检验的方法和一种动态调整的滤波器增益方法来检测并分别抑制组合导航中的GNSS观测值离群值。构建创新向量的指标，并对该指标执行chi（2）检验。如果未通过测试，则将相应的观察值视为异常值。根据该离群值构造比例因子，然后将其用于动态降低滤波器增益以减少离群值的影响。仿真结果表明，在正常情况下，观测值离群值处理方法不会影响正常值。它还可以区分单个和连续的异常值，而没有错误或遗漏。离群值的影响时间大大减少，系统性能提高了90％以上。实验结果表明，所提出的方法可以有效地抑制组合导航中的GNSS观测值异常。

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  • 来源
    《The Journal of Navigation》 |2018年第6期|1396-1412|共17页
  • 作者

    Wang Lihui; Zhi Kangyi; Li Bin; Zhang Yuexin;

  • 作者单位

    Southeast Univ, Sch Instrument Sci & Engn, Minist Educ, Key Lab Microinertial Instrument & Adv Nav Techno, Nanjing 210096, Jiangsu, Peoples R China;

    Beijing Inst Control Engn, Beijing 100081, Peoples R China;

    Beijing Res Ctr Intelligent Equipment Agr, Beijing 100097, Peoples R China;

    Southeast Univ, Sch Instrument Sci & Engn, Minist Educ, Key Lab Microinertial Instrument & Adv Nav Techno, Nanjing 210096, Jiangsu, Peoples R China;

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  • 原文格式 PDF
  • 正文语种 eng
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  • 关键词

    GNSS/INS Integrated Navigation; Outliers Processing; Innovation Vector; chi(2)-test; Filter Gain;

    机译：GNSS / INS组合导航;离群值处理;创新向量;chi（2）-检验;滤波增益;

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