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

Jiaxin Liu, Ke Di, Hui Peng and Yu Liu ()
Additional contact information
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
Yu Liu: Chongqing Key Laboratory of Autonomous Navigation and Microsystems, Chongqing University of Posts and Telecommunications, Chongqing 400065, China

Sustainability, 2023, vol. 15, issue 16, 1-21

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.

Keywords: SINS/GPS integrated system; nonlinear noise; adaptivity; VB–CKF algorithm (search for similar items in EconPapers)
JEL-codes: O13 Q Q0 Q2 Q3 Q5 Q56 (search for similar items in EconPapers)
Date: 2023
References: View references in EconPapers View complete reference list from CitEc
Citations:

Downloads: (external link)
https://www.mdpi.com/2071-1050/15/16/12477/pdf (application/pdf)
https://www.mdpi.com/2071-1050/15/16/12477/ (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:gam:jsusta:v:15:y:2023:i:16:p:12477-:d:1218714

Access Statistics for this article

Sustainability is currently edited by Ms. Alexandra Wu

More articles in Sustainability from MDPI
Bibliographic data for series maintained by MDPI Indexing Manager ().