Information Fusion Strategies for Collaborative Inertial Radio SLAM
Information Fusion Strategies for Collaborative Inertial Radio SLAM
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DOI：
10.1109/tits.2021.3118678
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发表时间：
2022-08
影响因子：
8.5
通讯作者：
Joshua Morales;Joe J. Khalife;Z. Kassas
中科院分区：
文献类型：
--
作者：
Joshua Morales;Joe J. Khalife;Z. Kassas
研究了利用地面机会信号辅助惯性导航系统导航的信息融合策略。考虑以下问题。能够访问全球导航卫星系统（GNSS）信号的多个导航车辆正在利用GNSS伪距来帮助其车载INS。在导航时，车载接收器从地面SOP（例如，AM/FM收音机、数字电视、蜂窝），发射器位置未知，时钟未知且不同步。飞行器共享INS数据和SOP伪距，以通过使用紧耦合的扩展卡尔曼滤波器来协作地估计SOP的状态。一段时间后，GNSS信号变得不可用，此时导航车辆使用共享的INS和SOP信息在协作惯性无线电同时定位和制图（CIRSLAM）框架中继续导航。本文开发了这样的CIRSLAM框架，并综合了SOP和INS信息应该在协作者之间共享。两种信息融合策略进行了比较：1）共享的到达时间（TOA）测量的SOP; 2）共享的到达时间差（TDOA）测量参考SOP。接下来，讨论了有效地共享INS信息沿着SOP信息的策略。蒙特卡罗模拟结果支持的分析结果，车辆导航的CIRSLAM框架，同时共享和融合SOP TOA测量，产生一个较小或相等的估计误差协方差相比，融合SOP时差测量。实验结果表明，两个无人机（UAV）导航的CIRSLAM框架与SOP TOA测量地面蜂窝塔。与单独使用INS相比，在GPS不可用30秒后，最终UAV的定位误差从约55 m减小到约6 m。
Information fusion strategies for vehicles navigating while aiding their inertial navigation systems (INSs) with terrestrial signals of opportunity (SOPs) are developed and studied. The following problem is considered. Multiple navigating vehicles with access to global navigation satellite system (GNSS) signals are aiding their on-board INSs with GNSS pseudoranges. While navigating, vehicle-mounted receivers draw pseudorange measurements from terrestrial SOPs (e.g., AM/FM radio, digital television, cellular) with unknown emitter positions and unknown and unsynchronized clocks. The vehicles share INS data and SOP pseudoranges to collaboratively estimate the SOPs’ states through an extended Kalman filter using tight coupling. After some time, GNSS signals become unavailable, at which point the navigating vehicles use shared INS and SOP information to continue navigating in a collaborative inertial radio simultaneous localization and mapping (CIRSLAM) framework. This paper develops such CIRSLAM framework and synthesizes what SOP and INS information should be shared between collaborators. Two information fusion strategies are compared: 1) sharing time-of-arrival (TOA) measurements from SOPs; 2) sharing time-difference-of-arrival (TDOA) measurements taken with reference to an SOP. Next, a strategy to efficiently share INS information along with SOP information is discussed. Monte Carlo simulation results are presented that support the analytical findings that vehicles navigating in a CIRSLAM framework, while sharing and fusing SOP TOA measurements, produce a smaller or equal estimation error covariance compared to fusing SOP TDOA measurements. Experimental results are presented demonstrating two unmanned aerial vehicles (UAVs) navigating in a CIRSLAM framework with SOP TOA measurements from terrestrial cellular towers. The final UAVs’ localization error after 30 seconds of GPS unavailability were reduced compared to using an INS alone from around 55 m to around 6 m.