Performance Analysis of GNSS/MIMU Tight Fusion Positioning Model with Complex Scene Feature Constraints

In order to meet the requirements of high-precision vehicle positioning in complex scenes,an observation noise adaptive robust GNSS/MIMU tight fusion model based on the gain matrix is proposed considering static zero speed,non-integrity,attitude,and odometer constraint models.In this model,the robust equivalent gain matrix is constructed by the IGG-Ⅲmethod to weaken the influence of gross error,and the on-line adaptive update of observation noise matrix is carried out according to the change of actual observation environment,so as to improve the solution performance of filtering system and realize high-precision position,attitude and velocity measurement when GNSS signal is unlocked.A real test on a road over 600 km demonstrates that,in about 100 km shaded environment,the fixed rate of GNSS ambiguity resolution in the shaded road is 10%higher than that of GNSS only ambiguity resolution.For all the test,the positioning accuracy can reach the centimeter level in an open environment,better than 0.6 m in the tree shaded environment,better than 1.5 m in the three-dimensional traffic environment,and can still maintain a positioning accuracy of 0.1 m within 10 s when the satellite is unlocked in the tunnel scene.The proposal and verification of the algorithm model show that low-cost MIMU equipment can still achieve high-precision positioning when there are scene feature constraints,which can meet the problem of high-precision vehicle navigation and location in the urban complex environment.

Robust SLAM localization method based on improved variational Bayesian filtering

Aimed at the problem that the state estimation in the measurement update of the simultaneous localization and mapping(SLAM)method is incorrect or even not convergent because of the non-Gaussian measurement noise,outliers,or unknown and time-varying noise statistical characteristics,a robust SLAM method based on the improved variational Bayesian adaptive Kalman filtering(IVBAKF)is proposed.First,the measurement noise covariance is estimated using the variable Bayesian adaptive filtering algorithm.Then,the estimated covariance matrix is robustly processed through the weight function constructed in the form of a reweighted average.Finally,the system updates are iterated multiple times to further gradually correct the state estimation error.Furthermore,to observe features at different depths,a feature measurement model containing depth parameters is constructed.Experimental results show that when the measurement noise does not obey the Gaussian distribution and there are outliers in the measurement information,compared with the variational Bayesian adaptive SLAM method,the positioning accuracy of the proposed method is improved by 17.23%,20.46%,and 17.76%,which has better applicability and robustness to environmental disturbance.

A New Independent GPS-Free System for Geo-Referencing from Space

A new system’s geo-referencing from space is entirely free from any GNSS (GPS or equivalent) systems. The system addresses to various strategic and economic applications such as in remote clock synchronism, aircraft and balloon navigation, missile and smart bombs tracking, satellite orbital determination and remote target geo-positioning. The new geometry concept corresponds to an “inverted GPS” configuration, utilizing four ground-based reference stations, synchronized in time, installed at well known geodesic coordinates and a repeater in space, carried by an aircraft, balloon, satellite, etc. Signal transmitted by one of the reference bases is retransmitted by the transponder, received back by the four bases, producing four ranging measurements which are corrected for the time delays undergone in every retransmission. A minimization function was derived to compare the repeater’s positions referred to at least two groups of three reference bases, to correct for the signal transit time at the repeater and propagation delays, and consequently to provide the accurate repeater position for each time interaction. Once the repeater’s coordinates are known, the other determinations and applications become straightforward. The system solving algorithm and process performance has been demonstrated by simulations adopting a practical example with the transponder carried by an aircraft moving over bases and a target on the ground. Effects produced by reference clock synchronism uncertainties at the four bases on the measurements are reviewed.