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Improved decentralized multi-sensor navigation system for airborne applications

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Abstract

The integration of Global Navigation Satellite System (GNSS) and Inertial Navigation System (INS) technologies is a very useful navigation option for high-accuracy positioning in many applications. However, its performance is still limited by GNSS satellite availability and satellite geometry. To address such limitations, a non-GNSS-based positioning technology known as “Locata” is used to augment a standard GNSS/INS system. The conventional methods for multi-sensor integration can be classified as being either in the form of centralized Kalman filtering (CKF), or decentralized Kalman filtering. However, these two filtering architectures are not always ideal for real-world applications. To satisfy both accuracy and reliability requirements, these three integration algorithms—CKF, federated Kalman filtering (FKF) and an improved decentralized filtering, known as global optimal filtering (GOF)—are investigated. In principle, the GOF is derived from more information resources than the CKF and FKF algorithms. These three algorithms are implemented in a GPS/Locata/INS integrated navigation system and evaluated using data obtained from a flight test. The experimental results show that the position, velocity and attitude solution derived from the GOF-based system indicate improvements of 30, 18.4 and 20.8% over the CKF- and FKF-based systems, respectively.

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Acknowledgements

The authors acknowledge the assistance of the School of Aviation, UNSW, and the Locata Corporation for the flight trials. This work is supported in part by National Natural Science Foundation of China under Grant 61703034, and Beijing Natural Science Foundation under Grant 4184096.

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Authors and Affiliations

  1. State Key Laboratory of Rail Traffic Control and Safety, Beijing Engineering Research Center of EMC and GNSS Technology for Rail Transportation, School of Electronic and Information Engineering, Beijing Jiaotong University, Beijing, China

    Wei Jiang

  2. Navexplorer Technology, Sydney, Australia

    Yong Li

  3. School of Civil and Environmental Engineering, University of New South Wales, Sydney, Australia

    Chris Rizos

Authors
  1. Wei Jiang
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  2. Yong Li
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  3. Chris Rizos
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Correspondence to Wei Jiang.

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Jiang, W., Li, Y. & Rizos, C. Improved decentralized multi-sensor navigation system for airborne applications. GPS Solut 22, 78 (2018). https://doi.org/10.1007/s10291-018-0743-9

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