| 一种基于加表零偏稳定性的GNSS/SINS组合导航异常探测方法 |
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| 引用本文： | 陶贤露,张小红,朱锋,肖佳敏.一种基于加表零偏稳定性的GNSS/SINS组合导航异常探测方法[J].武汉大学学报(信息科学版),2018,43(7):1078-1084. |
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| 作者姓名： | 陶贤露 张小红 朱锋 肖佳敏 |
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| 作者单位： | 1.武汉大学测绘学院, 湖北 武汉, 430079 |
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| 基金项目： | 国家重点研发计划2016YFB0501803 |
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| 摘 要： | 在地面车载组合导航中，全球导航卫星系统（global navigation satellite system，GNSS）的观测值容易受地面复杂环境的干扰，导致其定位结果出现异常，严重影响GNSS/捷联惯性导航系统（strap-down inertial navigation system，SINS）组合的滤波解算。从惯导系统误差特性的角度，研究了一种基于加表零偏稳定性的组合导航异常探测新方法。该方法从加表零偏解算的异常来发现GNSS位置、速度等观测值中的粗差，并采取剔除和降权的抗差方法抵御粗差影响。通过一组车载数据的分析表明，观测粗差对加表零偏解算的影响十分显著，以此为判别条件能够准确地发现观测粗差。采用该方法后，位置误差、速度误差和姿态误差的均方根分别减小了70.8%、87.9%和77.7%，显著提高了组合导航的解算精度和鲁棒性，为组合导航数据的抗差处理提供了一种新思路。
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| 关 键 词： | 观测异常 抗差滤波 组合导航 加表零偏稳定性 松组合 |
| 收稿时间： | 2017-03-01 |
An Outlier Detection Method of GNSS/SINS Integrated Navigation Based on Accelerometer Bias Stability |
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| Affiliation: | 1.School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China |
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| Abstract: | In the ground vehicle integrated navigation, GNSS observations are often interfered by complex ground environment and thus, its positioning result is more prone to contain outliers which can seriously affect GNSS/SINS integrated filter solution. This paper, from the perspective of IMU system error feature, studies an outlier detection method of GNSS/SINS integrated navigation based on accelerometer bias stability. According to the outlier of accelerometer bias result, the method detects gross errors in GNSS position, velocity, etc; and then applies the robust strategies of rejection and weight reduction to resist the influence of gross errors. The method is analyzed by a set of vehicle measured data. The results show that the observation outliers can greatly affect the accelerometer bias result and thus taking the accelerometer bias stability as a condition, the outliers can be exactly detected. In every direction of ENU, the RMS of position and the RMS of velocity are improved by 70.8% and 87.9% respectively; the RMS of attitude is improved by 77.7%. The method greatly improves the accuracy and robustness of integrated navigation results and provides a new strategy for robust processing of integrated navigation data. |
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