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

doi:10.11947/j.AGCS.2023.20210555

Abstract

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

CLC Number:

P228

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.

References

[1] TAHAT A, KADDOUM G, YOUSEFI S, et al. A look at the recent wireless positioning techniques with a focus on algorithms for moving receivers[J]. IEEE Access, 2016, 4:6652-6680.
[2] 3rd Generation Partnership Project. NG radio access network (NG-RAN); stage 2 functional specification of user equipment (UE) positioning in NG-RAN:3GPP. TS 38.305[S]. Sophia Antipolis:3GPP, 2020.
[3] 3rd Generation Partnership Project. NG-RAN; NR Positioning Protocol A (NRPPa):3GPP. TS 38.455[S]. Sophia Antipolis:3GPP, 2019.
[4] DEL PERAL-ROSADO J A, GRANADOS G S, RAULEFS R, et al. Whitepaper on new localization methods for 5G wireless systems and the internet-of-things[M]. Brussels:COST Action CA15104, IRACON, 2018.
[5] WYMEERSCH H, SECO-GRANADOS G, DESTINO G, et al. 5G mm wave positioning for vehicular networks[J]. IEEE Wireless Communications, 2017, 24(6):80-86.
[6] WEN Fuxi, WYMEERSCH H, PENG Bile, et al. A survey on 5G massive MIMO localization[J]. Digital Signal Processing, 2019, 94(C):21-28.
[7] KOIVISTO M, COSTA M, WERNER J, et al. Joint device positioning and clock synchronization in 5G ultra-dense networks[J]. IEEE Transactions on Wireless Communications, 2017, 16(5):2866-2881.
[8] KOIVISTO M, TALVITIE J, COSTA M, et al. Joint cmwave-based multiuser positioning and network synchronization in dense 5G networks[C]//Proceedings of 2018 IEEE Wireless Communications and Networking Conference (WCNC). Barcelona,Spain:IEEE, 2018:1-6.
[9] JIA Yang, TIAN Hui, FAN Shaoshuai, et al. Motion feature and millimeter wave multi-path AoA-ToA based 3D indoor positioning[C]//Proceedings of 2018 IEEE Annual International Symposium on Personal, Indoor and Mobile Radio Communications (PIMRC). Bologna, Italy:IEEE, 2018:1-7.
[10] LIU Jingnan, GAO Kefu, GUO Wenfei, et al. Role, path, and vision of "5G+BDS/GNSS"[J]. Satellite Navigation, 2020, 1(1):23.
[11] SUN C, ZHAO H, BAI L, et al. GNSS-5G hybrid positioning based on TOA/AOA measurements[C]//Proceedings of 2020 China Satellite Navigation Conference. Singapore:Springer, 2020.
[12] DEL PERAL-ROSADO J A, SALORANTA J, DESTINO G, et al. Methodology for simulating 5G and GNSS high-accuracy positioning[J]. Sensors (Basel, Switzerland), 2018, 18(10):3220.
[13] 彭友志, 田野, 张炜程, 等. 5G/GNSS融合系统定位精度仿真分析[J]. 厦门大学学报(自然科学版), 2020, 59(1):101-107. PENG Youzhi, TIAN Ye, ZHANG Weicheng, et al. Positioning accuracy analysis for 5G/GNSS fusion system[J]. Journal of Xiamen University (Natural Science), 2020, 59(1):101-107.
[14] YIN Lu, NI Qiang, DENG Zhongliang. A GNSS/5G integrated positioning methodology in D2D communication networks[J]. IEEE Journal on Selected Areas in Communications, 2018, 36(2):351-362.
[15] JIANG Chen, ZHANG Shubi, CAO Yizhi, et al. A robust fault detection algorithm for the GNSS/INS integrated navigation systems[J]. Journal of Geodesy and Geoinformation Science, 2020, 3(1):12-24.
[16] 朱锋. GNSS/SINS/视觉多传感器融合的精密定位定姿方法与关键技术[D]. 武汉:武汉大学, 2019. ZHU Feng. GNSS/SINS/vision multi-sensors integration for precise positioning and orientation determination[D]. Wuhan:Wuhan University, 2019.
[17] GUO Chi, YU Jiang, GUO Wenfei, et al. Intelligent and ubiquitous positioning framework in 5G edge computing scenarios[J]. IEEE Access, 2020, 8:83276-83289.
[18] 张荣辉, 贾宏光, 陈涛, 等. 基于四元数法的捷联式惯性导航系统的姿态解算[J]. 光学精密工程, 2008, 16(10):1963-1970. ZHANG Ronghui, JIA Hongguang, CHEN Tao, et al. Attitude solution for strapdown inertial navigation system based on quaternion algorithm[J]. Optics and Precision Engineering, 2008, 16(10):1963-1970.
[19] 严恭敏. 车载自主定位定向系统研究[D]. 西安:西北工业大学, 2006. YAN Gongmin. Research on vehicle autonomous positioning and orientation system[D]. Xi'an:Northwestern Polytechnical University, 2006.
[20] 吴富梅. GNSS/INS组合导航误差补偿与自适应滤波理论的拓展[D]. 郑州:信息工程大学, 2010. WU Fumei. Error compensation and extension ofadaptive filtering theory in GNSS/INS integrated navigation[D]. Zhengzhou:Information Engineering University, 2010.
[21] SHIN E H. Estimation techniques for low-cost inertial navigation[D]. Calgary, Alberta, Canada:University of Calgary, 2005.
[22] 刘文凤. 基于城乡规划的5G移动通信基站站址布局研究[J]. 智能城市, 2021, 7(6):11-12. LIU Wenfeng. Research on location layout of 5G mobile communication base station based on urban and rural planning[J]. Intelligent City, 2021, 7(6):11-12.
[23] 姜文博, 冀飞, 张怡全. 《上海市5G移动通信基站布局规划导则》详解[J]. 上海信息化, 2020(12):17-22. JIANG Wenbo, JI Fei, ZHANG Yiquan. Detailed explanation of "Shanghai 5G mobile communication base station layout planning guidelines"[J]. Shanghai Informatization, 2020(12):17-22.
[24] RAPPAPORT T S, SUN Shu, MAYZUS R, et al. Millimeter wave mobile communications for 5G cellular:it will work![J]. IEEE Access, 2013, 1:335-349.
[25] 3rd Generation Partnership Project. Study on NR Positioning Enhancements:3GPP. TS 38.857[S]. Sophia Antipolis:3GPP, 2021.