Fault Detection of Resilient Navigation System Based on GNSS Pseudo-Range Measurement

Abstract

Because of the resilient frame structure, the factor graph is often used in navigation systems to solve the sensor asynchrony problem and realize plug-and-play effectively in the navigation information fusion method. To improve the fault detection performance of resilient integrated navigation systems under complex interference environments, a fault detection method in factor graph navigation framework based on INS measurements and GNSS pseudo-range measurements is proposed in this paper. The proposed method can effectively locate the fault satellite pseudo-range information based on the Chi-square fault detection method. Due to the plug-and-play characteristic of the factor graph framework, this method can quickly isolate faults to improve navigation accuracy. Finally, the effect of the method is verified by simulation and experiment. Compared with the Chi-square fault detection method, positioning accuracy is improved by more than 40%.

Fault Detection and Interactive Multiple Models Optimization Algorithm Based on Factor Graph Navigation System

“…Integrated navigation schemes based on multi-source information fusion for vehicle navigation have been extensively investigated. Considering the difficulties of accurate modeling and prediction for external dynamic disturbance, the traditional extended Kalman filter (EKF) algorithm fails to satisfy the robustness requirements [10,11]. To address this problem, the adaptive Kalman filter (AKF) provides a solution.…”

A Robust Position Estimation Method in the Integrated Navigation System via Factor Graph

“…Typically, methods to solve this problem can be classified into two categories: one is probabilistic statistics-based fault detection and isolation, which usually employ binary hypothesis tests based on residuals to detect faults then isolate them using the plug-andplay nature of the factor graph framework. The work described in [18] proposed a GNSS pseudorange fault detection method, which employs a chi-square test to detect faults and isolate them directly using factor graph. In [19], an iRAIM method is proposed where faults are detected in a fixed time window.…”