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A Tight Coupling Algorithm for Strapdown Inertial Navigation System (SINS)/Global Positioning System (GPS) Adaptive Integrated Navigation Based on Variational Bayesian

Author

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  • Jiaxin Liu

    (Chongqing Key Laboratory of Autonomous Navigation and Microsystems, Chongqing University of Posts and Telecommunications, Chongqing 400065, China)

  • Ke Di

    (Chongqing Key Laboratory of Autonomous Navigation and Microsystems, Chongqing University of Posts and Telecommunications, Chongqing 400065, China)

  • Hui Peng

    (Chongqing Key Laboratory of Autonomous Navigation and Microsystems, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
    Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Posts and Telecommunications, Chongqing 400065, China)

  • Yu Liu

    (Chongqing Key Laboratory of Autonomous Navigation and Microsystems, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
    Chongqing Engineering Research Center of Intelligent Sensing Technology and Microsystem, Chongqing University of Posts and Telecommunications, Chongqing 400065, China)

Abstract

Multi-source nonlinear noise exists in the process of multi-source navigation information fusion in long-endurance positioning systems in complex environments. In such engineering applications, the classical Kalman filter (KF) and the extended Kalman filter (EKF) have the phenomena of noise instability and parameter drift, which lead to the divergence of filtering results and reductions in accuracy over long periods of time. Aiming at the above problems, this paper proposes a fusion algorithm of the variational Bayesian (VB) and the cubature Kalman filter (CKF). Firstly, the system is modeled through nonlinear filtering, and the CKF error equation is established by taking the position difference and velocity difference between SINS and GPS as observation variables. Then, to address the problem of poor self-adaptation of the CKF algorithm, the variational Bayesian adaptive estimation method is introduced into the CKF algorithm, and a measurement noise variance estimation model is introduced to the process of time and measurement updates of the CKF algorithm to finally obtain the adaptive VB–CKF algorithm. The simulation results from the experimental platform show that the proposed fusion algorithm improves the combined SINS/GPS system by about 30% in terms of attitude angle accuracy and reduces speed and position estimation errors (RMSE) by about 45%. At the same time, comprehensive experiments on multiple types of sites show that compared with the CKF algorithm, the VB–CKF algorithm improves the positioning accuracy by 10% when the GPS signal is stable and improves the accuracy by about 38% when the GPS measurement noise changes dramatically in complex terrain, which effectively suppresses the accuracy divergence of the CKF algorithm and has high value for engineering applications.

Suggested Citation

  • Jiaxin Liu & Ke Di & Hui Peng & Yu Liu, 2023. "A Tight Coupling Algorithm for Strapdown Inertial Navigation System (SINS)/Global Positioning System (GPS) Adaptive Integrated Navigation Based on Variational Bayesian," Sustainability, MDPI, vol. 15(16), pages 1-21, August.
    • Handle: RePEc:gam:jsusta:v:15:y:2023:i:16:p:12477-:d:1218714
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    References listed on IDEAS

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    1. Arnaud Doucet & Vladislav Tadić, 2003. "Parameter estimation in general state-space models using particle methods," Annals of the Institute of Statistical Mathematics, Springer;The Institute of Statistical Mathematics, vol. 55(2), pages 409-422, June.
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