Navigation Safety Assurance of a KF-Based GNSS/IMU System: Protection Levels Against IMU Failure

IF 3.1 3区地球科学 Q1 ENGINEERING, AEROSPACE

Navigation-Journal of the Institute of Navigation Pub Date : 2023-01-01 DOI:10.33012/navi.612

Jinsil Lee, Minchan Kim, D. Min, Sam Pullen,, Jiyun Lee

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引用次数: 0

Abstract

This study introduces a navigation integrity and continuity algorithm against an inertial measurement unit (IMU) sensor fault within a Kalman filter (KF) that ensures a high level of safety for IMU-integrated safety-critical navigation applications. A representative example of an IMU integrated navigation system is a global navigation satellite system (GNSS)/IMU system. Most previous stud - ies have focused on GNSS faults when evaluating the integrity and continuity of a KF-based GNSS/IMU navigation system, leaving the IMU fault hypothe - sis unaddressed. Unlike GNSS, which is applied in the measurement update step within the KF, IMU measurements are applied in the state prediction step, which results in different fault propagation characteristics in the user state error compared with those in GNSS. This paper analytically derives the sequen - tial IMU fault impacts on user state errors. Based on this investigation, a KF innovation-based fault detector and protection-level equations are developed, which can safely bound user state errors against sequential IMU fault impacts

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基于kf的GNSS/IMU系统导航安全保障:IMU失效防护等级

本研究介绍了一种针对卡尔曼滤波器(KF)内惯性测量单元(IMU)传感器故障的导航完整性和连续性算法，该算法可确保IMU集成安全关键导航应用的高水平安全性。IMU综合导航系统的一个典型例子是全球卫星导航系统/IMU系统。在评估基于kf的GNSS/IMU导航系统的完整性和连续性时，大多数先前的研究都集中在GNSS故障上，而没有解决IMU故障假设。与GNSS应用于KF内的测量更新步骤不同，IMU测量应用于状态预测步骤，导致用户状态误差中的故障传播特征与GNSS不同。分析了IMU故障对用户状态误差的影响。在此基础上，提出了一种基于KF创新的故障检测器和保护级方程，可以安全地将用户状态错误与时序IMU故障影响绑定在一起

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来源期刊

Navigation-Journal of the Institute of Navigation ENGINEERING, AEROSPACE-REMOTE SENSING

CiteScore

5.60

自引率

13.60%

发文量

期刊介绍： NAVIGATION is a quarterly journal published by The Institute of Navigation. The journal publishes original, peer-reviewed articles on all areas related to the science, engineering and art of Positioning, Navigation and Timing (PNT) covering land (including indoor use), sea, air and space applications. PNT technologies of interest encompass navigation satellite systems (both global and regional), inertial navigation, electro-optical systems including LiDAR and imaging sensors, and radio-frequency ranging and timing systems, including those using signals of opportunity from communication systems and other non-traditional PNT sources. Articles about PNT algorithms and methods, such as for error characterization and mitigation, integrity analysis, PNT signal processing and multi-sensor integration, are welcome. The journal also accepts articles on non-traditional applications of PNT systems, including remote sensing of the Earth’s surface or atmosphere, as well as selected historical and survey articles.