SINS/GNSS紧密耦合车载组合导航左/右不变李群误差

IF 7.1 2区 计算机科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Maosong Wang;Jiarui Cui;Wenqi Wu
{"title":"SINS/GNSS紧密耦合车载组合导航左/右不变李群误差","authors":"Maosong Wang;Jiarui Cui;Wenqi Wu","doi":"10.1109/TVT.2025.3542441","DOIUrl":null,"url":null,"abstract":"Tightly coupled strapdown inertial navigation system (SINS)/global navigation satellite system (GNSS) integrated navigation, which utilizes GNSS pseudo-range and pseudo-range rate measurements for state estimation in vehicular navigation systems, demonstrates enhanced reliability and accuracy in challenging GNSS environments. While the extended Kalman filter (EKF) remains the predominant nonlinear algorithm in SINS/GNSS integration, it suffers from performance degradation due to covariance inconsistency issues. To address this limitation, this paper proposes a novel nonlinear state error-based Lie group extended Kalman filter (LG-EKF) for tightly coupled SINS/GNSS integrated navigation. The study first presents a tutorial example illustrating the necessity of transformed nonlinear state error and then provides detailed derivations of LG-EKF equations using both right invariant error (LG-EKF-R) and left invariant error (LG-EKF-L). Through Monte Carlo simulations and uncrewed aerial vehicle (UAV) field tests, the research demonstrates the performance differences in system dynamics between LG-EKF-R and LG-EKF-L. The results indicate that LG-EKF-R, operating at a lower propagation rate, achieves comparable accuracy to LG-EKF-L with a higher propagation rate, offering a more efficient solution for integrated navigation systems.","PeriodicalId":13421,"journal":{"name":"IEEE Transactions on Vehicular Technology","volume":"74 6","pages":"8975-8988"},"PeriodicalIF":7.1000,"publicationDate":"2025-02-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Left/Right Invariant Lie Group Error for SINS/GNSS Tightly Coupled Vehicular Integrated Navigation\",\"authors\":\"Maosong Wang;Jiarui Cui;Wenqi Wu\",\"doi\":\"10.1109/TVT.2025.3542441\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Tightly coupled strapdown inertial navigation system (SINS)/global navigation satellite system (GNSS) integrated navigation, which utilizes GNSS pseudo-range and pseudo-range rate measurements for state estimation in vehicular navigation systems, demonstrates enhanced reliability and accuracy in challenging GNSS environments. While the extended Kalman filter (EKF) remains the predominant nonlinear algorithm in SINS/GNSS integration, it suffers from performance degradation due to covariance inconsistency issues. To address this limitation, this paper proposes a novel nonlinear state error-based Lie group extended Kalman filter (LG-EKF) for tightly coupled SINS/GNSS integrated navigation. The study first presents a tutorial example illustrating the necessity of transformed nonlinear state error and then provides detailed derivations of LG-EKF equations using both right invariant error (LG-EKF-R) and left invariant error (LG-EKF-L). Through Monte Carlo simulations and uncrewed aerial vehicle (UAV) field tests, the research demonstrates the performance differences in system dynamics between LG-EKF-R and LG-EKF-L. The results indicate that LG-EKF-R, operating at a lower propagation rate, achieves comparable accuracy to LG-EKF-L with a higher propagation rate, offering a more efficient solution for integrated navigation systems.\",\"PeriodicalId\":13421,\"journal\":{\"name\":\"IEEE Transactions on Vehicular Technology\",\"volume\":\"74 6\",\"pages\":\"8975-8988\"},\"PeriodicalIF\":7.1000,\"publicationDate\":\"2025-02-25\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE Transactions on Vehicular Technology\",\"FirstCategoryId\":\"94\",\"ListUrlMain\":\"https://ieeexplore.ieee.org/document/10904024/\",\"RegionNum\":2,\"RegionCategory\":\"计算机科学\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q1\",\"JCRName\":\"ENGINEERING, ELECTRICAL & ELECTRONIC\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Vehicular Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10904024/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0

摘要

紧密耦合捷联惯性导航系统(SINS)/全球导航卫星系统(GNSS)组合导航在车载导航系统中利用GNSS伪距离和伪距离速率测量进行状态估计,在具有挑战性的GNSS环境中证明了更高的可靠性和准确性。虽然扩展卡尔曼滤波(EKF)仍然是SINS/GNSS集成中主要的非线性算法,但由于协方差不一致问题,它的性能下降。针对这一缺陷,本文提出了一种基于非线性状态误差的李群扩展卡尔曼滤波器(LG-EKF),用于SINS/GNSS紧密耦合组合导航。该研究首先给出了一个实例,说明了非线性状态误差变换的必要性,然后详细推导了右不变误差(LG-EKF- r)和左不变误差(LG-EKF- l)的LG-EKF方程。通过蒙特卡罗仿真和无人机(UAV)现场试验,研究了LG-EKF-R和LG-EKF-L在系统动力学方面的性能差异。结果表明,在较低的传播速率下,LG-EKF-R可以达到与具有较高传播速率的LG-EKF-L相当的精度,为组合导航系统提供了更有效的解决方案。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Left/Right Invariant Lie Group Error for SINS/GNSS Tightly Coupled Vehicular Integrated Navigation
Tightly coupled strapdown inertial navigation system (SINS)/global navigation satellite system (GNSS) integrated navigation, which utilizes GNSS pseudo-range and pseudo-range rate measurements for state estimation in vehicular navigation systems, demonstrates enhanced reliability and accuracy in challenging GNSS environments. While the extended Kalman filter (EKF) remains the predominant nonlinear algorithm in SINS/GNSS integration, it suffers from performance degradation due to covariance inconsistency issues. To address this limitation, this paper proposes a novel nonlinear state error-based Lie group extended Kalman filter (LG-EKF) for tightly coupled SINS/GNSS integrated navigation. The study first presents a tutorial example illustrating the necessity of transformed nonlinear state error and then provides detailed derivations of LG-EKF equations using both right invariant error (LG-EKF-R) and left invariant error (LG-EKF-L). Through Monte Carlo simulations and uncrewed aerial vehicle (UAV) field tests, the research demonstrates the performance differences in system dynamics between LG-EKF-R and LG-EKF-L. The results indicate that LG-EKF-R, operating at a lower propagation rate, achieves comparable accuracy to LG-EKF-L with a higher propagation rate, offering a more efficient solution for integrated navigation systems.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
CiteScore
6.00
自引率
8.80%
发文量
1245
审稿时长
6.3 months
期刊介绍: The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:604180095
Book学术官方微信