Robust state and protection-level estimation within tightly coupled GNSS/INS navigation system

GPS Solutions, vol. 27

Abstract

Abstract In autonomous applications for mobility and transport, a high-rate and highly accurate vehicle-state estimation is achieved by fusing measurements of global navigation satellite systems (GNSS) and inertial sensors. The state estimation and its protection-level generation often suffer from satellite-signal disturbances in urban environments and subsequent poor parametrization of the satellite observables. Thus, we propose an innovative scheme involving an extended H∞ filter (EHF) for robust state estimation and zonotope for the protection-level generation. This scheme is shown as part of a tightly coupled navigation system based on an inertial navigation system and aided by the GPS/Galileo dual-constellation satellite navigation system. Specifically, GNSS pseudorange and deltarange observables are utilized. The experimental results of post-processing a real-world dataset show significant advantages of EHF against a conventional extended Kalman filter regarding the navigation accuracy and robustness under various GNSS measurement parametrizations and environmental circumstances. The zonotope-based protection-level calculation is proven valid, computationally affordable, and feasible for real-time implementations.

Authors 3

1. Shuchen Liu corresponding Aachen Institute of Automatic Control (IRT)

   RWTH Aachen University

   Affiliation as printed

   Institute of Automatic Control, RWTH Aachen University, Aachen, Germany

2. Kaizheng Wang Aachen Institute of Automatic Control (IRT)

   RWTH Aachen University

   Affiliation as printed

   Institute of Automatic Control, RWTH Aachen University, Aachen, Germany

3. Dirk Abel Aachen Institute of Automatic Control (IRT)

   RWTH Aachen University

   Affiliation as printed

   Institute of Automatic Control, RWTH Aachen University, Aachen, Germany