CN116592880B - Autonomous integrity detection method for UWB-INS combined positioning system - Google Patents
Autonomous integrity detection method for UWB-INS combined positioning system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W24/00—Supervisory, monitoring or testing arrangements
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- H—ELECTRICITY
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an autonomous integrity detection method of a UWB-INS combined positioning system, which is used for detecting and analyzing the fault condition of an observed value according to the redundancy of the observed value on the basis of the UWB-INS combined positioning system, eliminating abnormal data on the basis of integrity analysis and improving the stability of the system.
Description
Technical Field
The invention belongs to the technical field of integrated navigation positioning, and particularly relates to an autonomous integrity detection method of a UWB-INS integrated positioning system.
Background
In recent years, with the increasing demand for indoor positioning services, related technology is also becoming more mature and widely used. Ultra Wide Band (UWB) positioning technology adopts extremely low power spectral density and extremely narrow non-sinusoidal wave pulse as communication signals, has the characteristics of high time resolution, strong penetrating power, good multipath resistance and the like, and is widely applied to the field of indoor positioning. UWB positioning methods can be classified into a method based on signal reception intensity (received signal strength indication, RSSI), a method based on angle of arrival (AOA), a method based on time of arrival (TOA), a method based on time difference of arrival (time difference of arrival, TDOA), and the like, according to measurement parameters. In a non-line-of-sight (NLOS) environment, since the blocking signal of an obstacle cannot directly reach, the positioning accuracy is drastically reduced, so that when positioning is performed using only UWB measurement information in a complex indoor environment, it is difficult to achieve high-accuracy positioning and the attitude information cannot be resolved. The inertial measurement unit (inertial measurement unit, IMU) is generally composed of a triaxial accelerometer and a triaxial gyroscope, can measure the acceleration and the angular velocity of a target under a carrier coordinate system, obtains carrier position and attitude information based on kinematics and classical mechanics according to the position and the attitude angle at the initial moment, realizes autonomous positioning, is not influenced by NLOS environment, has higher positioning accuracy in a short time, has deviation and drift, and can rapidly accumulate along with time. The combined positioning navigation of UWB and IMU can utilize the characteristic of accurate short-term solving of IMU to relieve the influence of NLOS error in UWB positioning, and UWB measurement information can inhibit the IMU from generating accumulated error. The combination mode mainly comprises a tight combination and a loose combination, the loose combination only uses the positioning value calculated by the IMU and the UWB measurement information to carry out combination filtering, the IMU and the UWB information are not mutually corrected, the positioning precision of the UWB algorithm has a large influence on the combined navigation positioning precision, the tight combination uses the IMU and the UWB measurement information to mutually correct, and the prediction value of the combined filtering algorithm is used for judging and relieving NLOS errors, so that the combined positioning navigation precision is obviously improved.
In the UWB-INS combined positioning system, UWB does not calculate the tag position in a close-coupled manner, but directly outputs ranging information of each base station, and INS (integrated navigation system) converts position information in a stage of measuring information based on an accelerometer and a gyroscope into distance information. The filter fuses the UWB ranging information and the distance information obtained by the INS, and outputs the optimal or suboptimal estimated value of the INS position error and the speed error to correct the INS positioning result. In the combined positioning system, due to different error mechanisms of UWB and INS, the occurrence probability of faults is mutually independent, and in order to ensure the stability of the fusion system, the integrity of the fusion system needs to be detected.
Disclosure of Invention
In order to solve the technical problems, the invention provides an autonomous integrity detection method of a UWB-INS combined positioning system, which is used for detecting and analyzing the fault condition of an observed value according to the redundancy of the observed value on the basis of the UWB-INS combined positioning system, and then carrying out a resolving process of a combined navigation filter after removing the abnormal ranging value from the observed value so as to improve the stability and the accuracy of the system.
The technical scheme adopted by the invention for achieving the purpose is as follows:
the autonomous integrity detection method of the UWB-INS combined positioning system comprises the following steps:
step (1) establishing a tightly combined discrete state model and an observation model of a UWB-INS combined positioning system, wherein an observation matrix in the observation model is approximately calculated through a jacobian matrix;
step (2) solving the position parameters by using a least square method based on a combined positioning system equation;
step (3), calculating a calculation residual error and a residual error square sum of the position according to a position parameter solving equation;
step (4) according to the distribution probability density function, the hypothesis test theory and the given misjudgment probability P, calculating to obtain a chi-square detection critical value, setting a test threshold according to the critical value, and judging whether a fault exists in the combined positioning system;
after judging that the system has faults, calculating the detection statistic of each base station through the statisticAnd comparing with the extreme inspection threshold value to judge the base stationWhether or not there is abnormality;
and (6) after judging the abnormal base station, removing the range data with the abnormality, recalculating an observation array by the residual data, and reconstructing an observation model.
Further, the step (1) includes:
the tightly combined discrete state model of the UWB/INS combined positioning system is established as follows:
，
，
wherein the state quantityThe state quantity is selected as a north position errorEast position error->North speed error->East speed error->；/>In the form of a state noise array,is an observation noise array;
wherein the measurement value，/>，/>Representing the distance between the INS solution position and the i-th base station, < >>Representing the measured distance of the ith UWB base station,the nonlinear measurement function representing the tightly combined system is expressed as follows:
，
in the method, in the process of the invention,、/>calculating north and east positions for inertial navigation,/->、/>The position coordinates of the ith base station;
will beThe jacobian matrix is used as an approximate measurement matrix H and is used as a calculation measurement matrix of combined positioning extended Kalman filtering:
，
wherein,。
further, the step (2) includes:
the position parameters are solved by using a least square method:
，
wherein,is a weight matrix>I.e., approximates the first two columns of the metrology matrix H.
Further, the calculation residual of the position in the step (3) is:
，
the sum of squares of the residuals is:
，
the observation noise obeys normal distribution, and the residual square sum S obeys the degree of freedom nDistribution.
Further, the step (4) includes:
according toDistribution probability density function and hypothesis test theory, given false positive probability +.>Calculating to obtain a chi-square detection critical value of +.>：
，
As a chi-square distributed probability density function,
by passing throughCalculating a test threshold->For detecting statistics, if->No fault exists, otherwise, the fault exists.
Further, the step (5) includes:
when judging that the system has faults, detecting whether the base station is abnormal or not, including:
first define test statistics，/>For matrix->I-th row and i-th column of (2), wherein +.>；
For test statisticsBinary hypothesis is carried out, and threshold value is extremely checked through a normal distribution probability density function under certain misjudgment probability>；
，
Wherein N (0, 1) is a standard normal distribution;
through test statisticsExtreme test threshold value of probability density function with normal distribution +.>Comparing ifThe base station is not abnormal, otherwise, the base station is abnormal.
Compared with the traditional differential positioning technology, the invention has the advantages that:
based on the overall state and the observation equation of the UWB-INS tightly combined positioning system, detecting and analyzing the fault condition of the observation value according to the redundancy of the observation value, removing abnormal data based on the integrity analysis, and improving the stability of the system.
Drawings
FIG. 1 is a flowchart of a method for detecting autonomous integrity of a UWB_INS combined positioning system according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
According to the UWB-INS tightly combined positioning system, fault conditions of the observed values are detected and analyzed according to the redundancy of the observed values, abnormal data are removed on the basis of integrity analysis, and the stability of the system is improved.
The invention relates to an autonomous integrity detection method of a UWB-INS combined positioning system, which specifically comprises the following steps:
and (1) establishing a tightly combined discrete state model and an observation model of the UWB-INS combined positioning system, wherein an observation matrix in the observation model is approximately calculated through a jacobian matrix.
And (2) solving each position parameter by using a least square method based on a combined positioning system equation.
And (3) calculating a position calculation residual error and a residual error square sum according to a position parameter solving equation.
And (4) calculating to obtain a chi-square detection critical value according to the distribution probability density function, the hypothesis test theory and the given misjudgment probability P, and setting a test threshold according to the critical value to judge whether a fault exists.
After judging that the system has faults, calculating the test statistics of each base station through the statisticsAnd comparing with the extreme inspection threshold value to judge whether the base station is abnormal or not.
And (6) after judging the abnormal base station, removing the abnormal ranging data, recalculating an observation array by the residual data, and reconstructing an observation model.
Specifically, a tightly combined discrete state model of the UWB_INS combined positioning system is established as follows:
，
，
wherein the state quantityThe state quantity is selected as north position error +.>East position error->North speed error->East speed error->；/>Is a state noise array->To observe the noise array.
Wherein the measurement value，/>，Representing the distance between the INS solution position and the i-th base station, < >>Representing the measured distance of the ith UWB base station,the nonlinear measurement function representing the tightly combined system is expressed as follows:
，
in the method, in the process of the invention,、/>calculating north and east positions for inertial navigation,/->、/>Is the position coordinates of the i-th base station.
Will beAs an approximate measurement matrix H, as a calculated measurement matrix for combined positioning Extended Kalman Filtering (EKF):
，
wherein,。
based on the tightly combined discrete state model of the combined positioning system, the position solving equation is utilized to solve each parameter of the position by adopting a least square method as follows:
，
wherein,is a weight matrix>Is state noise variance matrix->I.e., approximates the first two columns of the metrology matrix H.
Therefore, based on the position solving equation, the calculated residual e of the position is:
，
the sum of squares of the residuals S is:
，
the observation noise obeys normal distribution, and the residual square sum S obeys the degree of freedom nDistribution. According to->Distribution probability density function and hypothesis test theory, given false positive probability +.>The detection critical value of chi-square can be calculated>The method comprises the following steps:
，
wherein,as a chi-square distributed probability density function,
by passing throughCalculating a test threshold->For detecting statistics, therefore, in practical application, judgment is needed if +.>No fault exists, otherwise, the fault exists.
When judging that the system has faults, the base station with problems needs to be detected, and firstly, the test statistic is defined，/>For matrix->I-th row and i-th column of (2), wherein. For->Binary hypothesis is carried out, and threshold value is extremely checked through a normal distribution probability density function under certain misjudgment probability>。
，
Wherein N (0, 1) is a standard normal distribution.
Through test statisticsExtreme test threshold value of probability density function with normal distribution +.>Comparing ifThe base station is not abnormal, otherwise. After detecting the abnormality of the base station data, removing the abnormal ranging data, and recalculating an observation array by the residual data to reconstruct an observation model. The autonomous integrity detection of the UWB_INS integrated navigation system can be completed through the above process.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (5)
1. The autonomous integrity detection method of the UWB-INS combined positioning system is characterized by comprising the following steps of:
the method comprises the following steps of (1) establishing a UWB-INS combined positioning system tightly combined discrete state model and an observation model, wherein an observation matrix in the observation model is approximately calculated through a jacobian matrix, and the method comprises the following steps:
the tightly combined discrete state model of the UWB/INS combined positioning system is established as follows:
，
，
wherein the state quantityThe state quantity is selected as north position error +.>East position error->North speed error->East speed error->；/>Is a state noise array->Is an observation noise array;
wherein the measurement value，/>，Representing the distance between the INS solution position and the i-th base station, < >>Representing the measured distance of the ith UWB base station,the nonlinear measurement function representing the tightly combined system is expressed as follows:
，
in the method, in the process of the invention,、/>calculating north and east positions for inertial navigation,/->、/>The position coordinates of the ith base station;
will beThe jacobian matrix is used as an approximate measurement matrix H and is used as a calculation measurement matrix of combined positioning extended Kalman filtering:
，
wherein,；
step (2) solving the position parameters by using a least square method based on a combined positioning system equation;
step (3), calculating a calculation residual error and a residual error square sum of the position according to a position parameter solving equation;
step (4) according to the distribution probability density function, the hypothesis test theory and the given misjudgment probability P, calculating to obtain a chi-square detection critical value, setting a test threshold according to the critical value, and judging whether a fault exists in the combined positioning system;
after judging that the system has faults, calculating the detection statistic of each base station through the statisticComparing the base station with an extreme inspection threshold value to judge whether the base station is abnormal or not;
and (6) after judging the abnormal base station, removing the range data with the abnormality, recalculating an observation array by the residual data, and reconstructing an observation model.
2. The method for detecting the autonomous integrity of a uwb_ins combined positioning system according to claim 1, wherein the step (2) comprises:
the position parameters are solved by using a least square method:
，
wherein,is a weight matrix>I.e., approximates the first two columns of the metrology matrix H.
3. The method for detecting the autonomous integrity of a uwb_ins combined positioning system according to claim 2, wherein the calculation residuals of the positions in the step (3) are:
，
the sum of squares of the residuals is:
，
the observation noise obeys normal distribution, and the residual square sum S obeys the degree of freedom nDistribution.
4. A method for autonomous integrity detection of a UWB INS combined positioning system according to claim 3, wherein said step (4) comprises:
according toDistribution probability density function and hypothesis test theory, given false positive probability +.>Calculating to obtain a chi-square detection critical value of +.>：
，
As a chi-square distributed probability density function,
by passing throughCalculating a test threshold->For detecting statistics, if->No fault exists, otherwise, the fault exists.
5. The method for detecting the autonomous integrity of a UWB INS combined positioning system according to claim 4, wherein said step (5) comprises:
when judging that the system has faults, detecting whether the base station is abnormal or not, including:
first define test statistics，/>For matrix->I-th row and i-th column of (2), wherein +.>；
For test statisticsBinary hypothesis is carried out, and threshold value is extremely checked through a normal distribution probability density function under certain misjudgment probability>；
，
Wherein N (0, 1) is a standard normal distribution;
through test statisticsExtreme test threshold value of probability density function with normal distribution +.>Comparing ifThe base station is not abnormal, otherwise, the base station is abnormal.
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