Kalman Filter-Based integrity monitoring for integrated GNSS/INS/Vision system against sensor faults

摘要：

　　Global Navigation Satellite System/Inertial Navigation System(GNSS/INS)/Vision integration has been increasingly investigated for autonomous robots like self-driving cars.However,for this integrated system,not only positioning accuracy but also its reliability is required.Therefore,integrity monitoring is essential to the GNSS/INS/Vision integrated navigation system.In this paper,a novel protection level(PL)formula to ensure the integrity of the integrated GNSS/INS/Vision system is proposed,which can be calculated by the relation between the filter estimation error and faults.A field vehicular test was conducted to evaluate the performance of the proposed PL.The results show that the proposed PL for the GNSS/INS/Vision integration can bound the position error against GNSS,INS and visual measurement faults.

关键词： GNSS/INS/Vision integration extended Kalman filter (EKF) protection level (PL) integrity monitoring

作者: Haitao Jiang Tuan Li Chuang Shi

作者单位: Beihang University,Beijing,China Beijing Institute of Technology,Beijing,China

会议类型: 国内会议

会议名称: 第十三届中国卫星导航年会

会议地点: 北京

会议语种:英文

页码: 1-8

在线出版日期: 2022-12-01（万方平台首次上网日期，不代表论文的发表时间）