Tightly Coupled Inertial Navigation System With Signals of Opportunity Aiding
Tightly Coupled Inertial Navigation System With Signals of Opportunity Aiding
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DOI：
10.1109/taes.2021.3054067
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发表时间：
2021-01
影响因子：
4.4
通讯作者：
Joshua Morales;Z. Kassas
中科院分区：
文献类型：
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作者：
Joshua Morales;Z. Kassas
开发了一种由环境机会信号 (SOP) 辅助的紧密耦合惯性导航系统 (INS)。在该系统中，导航车辆通过基于扩展卡尔曼滤波器的无线电同步定位和建图 (SLAM) 框架，使用从具有未知发射器位置和时钟偏差的地面 SOP 中提取的伪距来辅助其机载 INS。 SOP 辅助 INS 在 GNSS 可用期间同时使用全球导航卫星系统 (GNSS) 和 SOP 伪距，并在 GNSS 不可用期间切换为仅使用 SOP 伪距。通过改变以下数值模拟来研究该框架：1) 所利用的 SOP 的数量和 2) 配备 SOP 的振荡器的质量。结果表明，与使用战术级 IMU 的传统紧耦合 GNSS 辅助 INS 相比，使用消费级 IMU 的 SOP 辅助 INS 产生更小的估计不确定性。在没有 GNSS 信号的情况下，在模拟有限时间范围内，SOP 辅助 INS 产生的误差似乎是有界的，而传统紧耦合 GNSS 辅助 INS 产生的误差则无界地发散。此外，本文还提供了实验结果，展示了无人机在没有 GNSS 信号的情况下使用地面蜂窝 SOP 来帮助其机载消费级 IMU。结果表明，传统紧耦合GNSS辅助INS在GNSS截止30 s后的最终位置误差为57.30 m，而紧耦合SOP辅助INS最终位置误差为9.59 m。
A tightly coupled inertial navigation system (INS) aided by ambient signals of opportunity (SOPs) is developed. In this system, a navigating vehicle aids its onboard INS using pseudoranges drawn from terrestrial SOPs with unknown emitter positions and clock biases through an extended Kalman filter-based radio simultaneous localization and mapping (SLAM) framework. The SOP-aided INS uses both global navigation satellite system (GNSS) and SOP pseudoranges during GNSS availability periods and switches to using SOP pseudoranges exclusively during GNSS unavailability periods. This framework is studied through numerical simulations by varying: 1) Quantity of exploited SOPs and 2) quality of SOP-equipped oscillators. It is demonstrated that the SOP-aided INS using a consumer-grade IMU produces smaller estimation uncertainties compared to a traditional tightly coupled GNSS-aided INS using a tactical-grade IMU. In the absence of GNSS signals, over the simulation finite-time horizon, the errors produced by the SOP-aided INS appear to be bounded, while the errors produced by a traditional tightly coupled GNSS-aided INS diverge unboundedly. Moreover, the article presents experimental results demonstrating an unmanned aerial vehicle using terrestrial cellular SOPs to aid its onboard consumer-grade IMU in the absence of GNSS signals. It is demonstrated that the final position error of a traditional tightly coupled GNSS-aided INS after 30 s of GNSS cutoff was 57.30 m, while the final position error of the tightly coupled SOP-aided INS was 9.59 m.