A Robust Fault Detection Algorithm for the GNSS/INS Integrated Navigation Systems

doi:10.11947/j.JGGS.2020.0102

Abstract

Abstract:

Integrity is an important index for GNSS-based navigation and positioning, and the receiver autonomous integrity monitoring (RAIM) algorithm has been presented for integrity applications. In the integrated navigation systems of a global navigation satellite system (GNSS) and inertial navigation system (INS),the conventional RAIM algorithm has been developed to extended receiver autonomous integrity monitoring (ERAIM). However, the ERAIM algorithm may fail and a false alarm may generate once the measurements are contaminated by significant outliers, and this problem is rarely discussed in the existing literatures. In this paper, a robust fault detection and the corresponding data processing algorithm are proposed based on the ERAIM algorithm and the robust estimation. In the proposed algorithm, weights of the measurements are adjusted with the equivalent weight function, and the efficiency of the outlier detection and identification is improved, therefore, the estimates become more reliable, and the probability of the false alarm is decreased. Experiments with the data collected under actual environments are implemented, and results indicate that the proposed algorithm is more efficient than the conventional ERAIM algorithm for multiple outliers and a better filtering performance is achieved.

Key words: ERAIM; fault detection; GNSS/INS; robust; probability of false alarm

Chen JIANG,Shubi ZHANG,Yizhi CAO,Hui LI,Hui ZHENG. A Robust Fault Detection Algorithm for the GNSS/INS Integrated Navigation Systems[J]. Journal of Geodesy and Geoinformation Science, 2020, 3(1): 12-24.

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Sensors	Constant bias	Bias instability	Bias repeatability	Random walk	Scale factor instability
Gyroscope	20 (°)/h	1(°)/h (1σ)	3(°)/h	0.0667(°)/h^1/2	1500ppm
Accelerometer	50mg	0.25mg (1σ)	0.75mg	50μg/h^1/2	4000ppm

Measurements	227^th epoch		228^th epoch		615^th epoch
Measurements	ERAIM	RE-ERAIM	ERAIM	RE-ERAIM	ERAIM	RE-ERAIM
P_x	6.794	8.283	5.277	0.176	5.429	22.764
P_y	12.855	14.447	9.738	0.704	9.618	17.370
P_z	11.199	13.236	10.090	1.185	11.932	5.418
V_x	7.870	0.156	8.945	0.267	20.023	0.391
V_y	16.344	0.617	8.555	0.685	19.102	0.800
V_z	13.160	0.161	4.648	0.380	9.132	0.234

Scheme	X/m	Y/m	Z/m	V_X/(m/s)	V_Y/(m/s)	Heading/(degree)
CKF	0.371	0.429	0.340	0.261	0.224	6.834
ERAIM	0.275	0.255	0.225	0.212	0.169	5.492
RE-ERAIM	0.235	0.228	0.173	0.161	0.142	4.527