融合TOA/AOD的5G/SINS紧组合导航定位算法分析

doi:10.11947/j.AGCS.2023.20210555

测绘学报 ›› 2023, Vol. 52 ›› Issue (3): 367-374.doi: 10.11947/j.AGCS.2023.20210555

融合TOA/AOD的5G/SINS紧组合导航定位算法分析

郭文飞¹, 齐书峰¹, 邓玥², 郭迟¹

1. 武汉大学卫星导航定位技术研究中心, 湖北武汉 430079;
2. 武汉大学测绘学院, 湖北武汉 430079

收稿日期:2021-11-03 修回日期:2022-09-28 发布日期:2023-04-07
通讯作者: 郭迟 E-mail:guochi@whu.edu.cn
作者简介:郭文飞(1982-),男,博士,副教授,研究方向为GNSS接收机、高精度授时、5G定位、GNSS-R、抗干扰及相关的通信与信号处理等。E-mail:wf.guo@whu.edu.cn
基金资助:
国家重点研发计划(2018YFC0809804);国家自然科学基金(41974038);中国工程科技发展战略湖北研究院重点咨询研究项目(HB2020B13)

Analysis of 5G/SINS tightly coupled navigation algorithm with TOA/AOD

GUO Wenfei¹, QI Shufeng¹, DENG Yue², GUO Chi¹

1. GNSS Research Center, Wuhan University, Wuhan 430079, China;
2. School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China

Received:2021-11-03 Revised:2022-09-28 Published:2023-04-07
Supported by:
The National Key Research and Development Program (No. 2018YFC0809804);General Project of National Natural Science Foundation of China (No. 41974038);Key Consulting and Research Project of Hubei Research Institute of China Engineering Science Development Strategy (No. HB2020B13)

摘要/Abstract

摘要： 针对5G定位和捷联惯性导航单一定位方式的可靠性和定位精度较差的问题,本文以扩展卡尔曼滤波为基础,提出了融合5G信号到达时间和信号离开角的5G/SINS紧组合导航算法。该算法首先利用惯性传感器输出信息解算用户的位置、速度和姿态,在此基础上利用已知的基站坐标反算出一组虚拟的5G观测值,然后使用该观测值和实际的5G测量值建立统一的观测方程进行滤波解算。仿真试验结果表明,5G/SINS紧组合的定位成功率可达99%以上,且能够有效改善惯导航位推算的发散问题,其定位精度相比单纯的5G定位有了大幅提高,相比5G/SINS松组合受基站数量和基站几何分布的影响较小。融合TOA/AOD的5G/SINS紧组合导航的定位结果有超过99%的历元在3 m以内。在5G观测值中存在系统误差时,5G/SINS紧组合的定位表现优于5G定位和5G/SINS松组合导航。

关键词: 5G定位, TOA, AOD, SINS, 紧组合导航

Abstract: For the problem that the poor reliability and positioning accuracy of 5G positioning or strapdown inertial navigation system (SINS), this paper proposed a 5G/SINS tightly coupled navigation algorithm integrating time of arrival (TOA) and angle of departure (AOD) based on extended Kalman filter. Firstly, the algorithm uses the output information of the inertial sensor to calculate the position, velocity, and attitude of the terminal. On this basis, a set of virtual 5G measurements are inverted by using the known coordinates of the base station. Then, a unified observation equation is established using the measurements and the actual 5G measurements for filtering. Simulation results showed that the success rate of 5G/SINS tightly coupled navigation could reach more than 99%, and the divergence problem of inertial navigation calculation can be effectively improved. Compared with simple 5G positioning, the positioning accuracy of 5G/SINS tightly coupled navigation is greatly improved, and the influence of base station number and base station geometry distribution is less than that of 5G/SINS loosely coupled navigation. More than 99% of the positioning results of 5G/SINS tightly coupled navigation integrated with TOA/AOD are within 3 m. When there are systematic errors in 5G observations, the positioning performance of 5G/SINS tight coupled navigation is better than that of 5G and 5G/SINS loosely coupled navigation.

Key words: 5G positioning, TOA, AOD, SINS, tightly coupled navigation

中图分类号:

P228

郭文飞, 齐书峰, 邓玥, 郭迟. 融合TOA/AOD的5G/SINS紧组合导航定位算法分析[J]. 测绘学报, 2023, 52(3): 367-374.

GUO Wenfei, QI Shufeng, DENG Yue, GUO Chi. Analysis of 5G/SINS tightly coupled navigation algorithm with TOA/AOD[J]. Acta Geodaetica et Cartographica Sinica, 2023, 52(3): 367-374.

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融合TOA/AOD的5G/SINS紧组合导航定位算法分析

Analysis of 5G/SINS tightly coupled navigation algorithm with TOA/AOD

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