基于改进EMD-CIIT降噪算法的INS/5G组合导航方法  

INS/5G integrated navigation method based on improved EMD-CIITdenoising algorithm

作　　者：赵云龙 孙骞 简鑫[1,2] 李一兵 于飞[3] ZHAO Yunlong;SUN Qian;JIAN Xin;LI Yibing;YU Fei(College of Information and Communication Engineering,Harbin Engineering University,Harbin 150001,China;Key Laboratory of Advanced Marine Communication and Information Technology,Harbin Engineering University,Harbin 150001,China;College of Mathematical Sciences,Harbin Engineering University,Harbin 150001,China)

机构地区：[1]哈尔滨工程大学信息与通信工程学院,黑龙江哈尔滨150001 [2]哈尔滨工程大学先进船舶通信与信息技术重点实验室,黑龙江哈尔滨150001 [3]哈尔滨工程大学数学科学学院,黑龙江哈尔滨150001

出　　处：《系统工程与电子技术》2024年第12期4203-4212,共10页Systems Engineering and Electronics

基　　金：国家自然科学基金(52271311)资助课题。

摘　　要：以惯性导航系统(inertial navigation system,INS)/5G组合导航系统为研究对象,首先,针对低成本的惯性传感器信噪比(signal to noise ratio,SNR)较低进而影响组合导航精度的问题,提出一种改进阈值的清除迭代经验模态分解间隔阈值(clear iterative empirical mode decomposition interval-thresholding,EMD-CIIT)算法,有效提升惯性传感器的SNR,以及提升组合导航系统的定位精度。然后,针对同频5G机会信号的同频干扰、钟差、钟漂等因素导致伪距值异常的问题,提出一种基于自适应卡尔曼滤波的紧组合导航算法,利用基于马氏距离的5G伪距置信度方案,实时调整观测协方差矩阵,从而抑制伪距异常值对定位精度的影响,进一步提高定位的可靠性。最后,分别采用数值仿真与实验手段验证所提方案的有效性和优越性。This paper focuses on the inertial navigation system(INS)/5G integrated navigation system.Firstly,an improved thresholding algorithm called clear iterative empirical mode decomposition interval-thresholding(EMD-CIIT)is proposed to effectively enhance the signal-to-noise ratio(SNR)of inertial sensors and thereby improve the positioning accuracy of the integrated navigation system,which addresses the issue of low SNR in low-cost inertial sensors that impacts the accuracy of integrated navigation systems.Additionally,to address the issues of co-frequency interference,clock bias,and clock drift in 5G opportunity signals that cause abnormal pseudo-range values,a tightly-integrated navigation algorithm based on adaptive Kalman filtering is proposed.The proposed algorithm utilizes a 5G pseudo-range confidence scheme based on Mahalanobis distance to adjust the observation covariance matrix in real time,which mitigates the impact of abnormal pseudo-range values on positioning accuracy and further enhances the reliability of positioning.Finally,the effectiveness and superiority of the proposed solution tests are validated through numerical simulation tests and experimental methods.

关 键 词：5G机会信号定位 经验模态分解 自适应卡尔曼滤波 紧组合 

分 类 号：TN911.7[电子电信—通信与信息系统] V249.328[电子电信—信息与通信工程]