基于改进EMD-CIIT降噪算法的INS/5G组合导航方法

TN911.7%V249.32+8; 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...

Full description

Saved in:
Bibliographic Details
Published in系统工程与电子技术 Vol. 46; no. 12; pp. 4203 - 4212
Main Authors 赵云龙, 孙骞, 简鑫, 李一兵, 于飞
Format Journal Article
LanguageChinese
Published 哈尔滨工程大学信息与通信工程学院,黑龙江哈尔滨 150001 01.12.2024
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%哈尔滨工程大学数学科学学院,黑龙江哈尔滨 150001
Subjects
自适应卡尔曼滤波
5G机会信号定位
adaptive Kalman filtering
经验模态分解
5G opportunity signals positioning
紧组合
empirical mode decomposition(EMD)
tightly integration
Online AccessGet full text

Cover

Abstract TN911.7%V249.32+8; 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.
AbstractList TN911.7%V249.32+8; 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.
Abstract_FL 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.
Author 赵云龙
于飞
简鑫
孙骞
李一兵
AuthorAffiliation 哈尔滨工程大学信息与通信工程学院,黑龙江哈尔滨 150001;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%哈尔滨工程大学数学科学学院,黑龙江哈尔滨 150001
AuthorAffiliation_xml – name: 哈尔滨工程大学信息与通信工程学院,黑龙江哈尔滨 150001;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%哈尔滨工程大学数学科学学院,黑龙江哈尔滨 150001
Author_FL LI Yibing
ZHAO Yunlong
JIAN Xin
YU Fei
SUN Qian
Author_FL_xml – sequence: 1
  fullname: ZHAO Yunlong
– sequence: 2
  fullname: SUN Qian
– sequence: 3
  fullname: JIAN Xin
– sequence: 4
  fullname: LI Yibing
– sequence: 5
  fullname: YU Fei
Author_xml – sequence: 1
  fullname: 赵云龙
– sequence: 2
  fullname: 孙骞
– sequence: 3
  fullname: 简鑫
– sequence: 4
  fullname: 李一兵
– sequence: 5
  fullname: 于飞
BookMark eNrjYmDJy89LZWBQMTTQMzQyNjDVz9LLLC7O0zM0MDDUNTUwi9AzMjAyAcrpGVmyMHDChTkYeIuLM5MMTA2NzU0NzE04Gayfzt_1ZFffsyk7X-yf7errouvs6Rnycmbv05mrnq-b_mzz1OezWjz9gvVN3Z_vbnk6oePp-j0vOlY9m7YTKMXDwJqWmFOcyguluRlC3VxDnD10ffzdPZ0dfXSLDQ1MLXWTUi1Tk5MMTCwtE1NTzcxTTJOSUg2TzIyN0lLNUwxMU00MjEzNktOSDc0ME80tTSyNDZKNDZMNjAyTLZNTjVOMjbkZtCDmlifmpSXmpcdn5ZcW5QFtjK8oSU-uTKnKKgZ51xBIWBoDAJDqXtA
ClassificationCodes TN911.7%V249.32+8
ContentType Journal Article
Copyright Copyright © Wanfang Data Co. Ltd. All Rights Reserved.
Copyright_xml – notice: Copyright © Wanfang Data Co. Ltd. All Rights Reserved.
DBID 2B.
4A8
92I
93N
PSX
TCJ
DOI 10.12305/j.issn.1001-506X.2024.12.29
DatabaseName Wanfang Data Journals - Hong Kong
WANFANG Data Centre
Wanfang Data Journals
万方数据期刊 - 香港版
China Online Journals (COJ)
China Online Journals (COJ)
DatabaseTitleList
DeliveryMethod fulltext_linktorsrc
Discipline Engineering
DocumentTitle_FL INS/5G integrated navigation method based on improved EMD-CIIT denoising algorithm
EndPage 4212
ExternalDocumentID xtgcydzjs202412029
GrantInformation_xml – fundername: 国家自然科学基金
  funderid: (52271311)
GroupedDBID -0Y
2B.
4A8
5XA
5XJ
92E
92I
93N
ABJNI
ACGFS
ALMA_UNASSIGNED_HOLDINGS
CCEZO
CUBFJ
CW9
PSX
TCJ
TGP
U1G
U5S
ID FETCH-LOGICAL-s1059-be9ecb0499aee67d5bbe1b632fe7d05e40256cfc161a794930c31c021c9ce3d33
ISSN 1001-506X
IngestDate Thu May 29 04:00:31 EDT 2025
IsPeerReviewed false
IsScholarly true
Issue 12
Keywords 自适应卡尔曼滤波
5G机会信号定位
adaptive Kalman filtering
经验模态分解
5G opportunity signals positioning
紧组合
empirical mode decomposition(EMD)
tightly integration
Language Chinese
LinkModel OpenURL
MergedId FETCHMERGED-LOGICAL-s1059-be9ecb0499aee67d5bbe1b632fe7d05e40256cfc161a794930c31c021c9ce3d33
PageCount 10
ParticipantIDs wanfang_journals_xtgcydzjs202412029
PublicationCentury 2000
PublicationDate 2024-12-01
PublicationDateYYYYMMDD 2024-12-01
PublicationDate_xml – month: 12
  year: 2024
  text: 2024-12-01
  day: 01
PublicationDecade 2020
PublicationTitle 系统工程与电子技术
PublicationTitle_FL Systems Engineering and Electronics
PublicationYear 2024
Publisher 哈尔滨工程大学信息与通信工程学院,黑龙江哈尔滨 150001
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%哈尔滨工程大学数学科学学院,黑龙江哈尔滨 150001
Publisher_xml – name: 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%哈尔滨工程大学数学科学学院,黑龙江哈尔滨 150001
– name: 哈尔滨工程大学信息与通信工程学院,黑龙江哈尔滨 150001
SSID ssib051375074
ssib002263377
ssib001102898
ssib057620160
ssib023168126
ssib023646287
ssj0042237
Score 2.4263337
Snippet TN911.7%V249.32+8; 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...
SourceID wanfang
SourceType Aggregation Database
StartPage 4203
Title 基于改进EMD-CIIT降噪算法的INS/5G组合导航方法
URI https://d.wanfangdata.com.cn/periodical/xtgcydzjs202412029
Volume 46
hasFullText 1
inHoldings 1
isFullTextHit
isPrint
link http://utb.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwnV1Jb9QwFLa6SAgOiFXsqkR9QmnjOE5icbJnMm0Rw4VW6q3K4rTiMEh0KsGce-gFxIFFhQP3HuDAqQWJ_8BvYNryL3jPk2kCDKhwsTJe3veWeN57lh0TMs2TIvR8g9sGI-n4IomctJCBY3IDzjJPM8bwNHL7XjC_5N9ZFstj419ru5Y2uulM1ht5ruR_rAp1YFc8JfsPlj0iChXwDPaFEiwM5bFsTGNBZYtqRWMfyyimcUAlPEsaR1S3qNRxu-k0FhYWaSyplDRq2kGSKhgUUhVTGeIgzakUWCOBjA8pPXAl5rBCa6iwg1waRfigALKBAPATyQBkYCFLMvWA11LgSGRACtgFChqQLZoCItpyH1nuQ8u9sChNRASakcLtGIjSAOjhG2IFFLavlV0ylFCDPLLqMqAisQUYlXHVYkVHshJHKl21AE7T8jJgykUqEQLVF0g8_5fNJlZBvFSQdlEMVIdGCUcIDIz5VIUlhyqwaC2qmBWYoYorpUi7HUXV-owkOKBjraw8mDpWH7quGMsSK23wB25vMby8gtWcFW6HE669CfLIm5ULuuWs9Wq-yfdcXotzcCvASB8KSamwThRBZo5AZlC3uHRerlD9_JXyx93V7Enee7COvRgUcpxMepC6ge-ZVM323ftVkI4xbS3JhwSA8-o0tIdXqbEqKcAbDgKvSiIE4xDlVkkLJMwefiZxGH_5EPDaK5WGjJ8g00OxZv8ilD211ymSzmotwFw8Q06XmeGUGkzzs2Sst3aOnKp9L_Q8ud1_t_dt79n-i93DL2-HE_v79tP-9s7B-9f7H18evNmEqTsr5g4-bfafb_U_fD7c2tl_tQtNF8hSK15szDvl7SfOOuY8TmqkyVJckUiMCcJcpKlhacC9woS5K4yP2UpWZJCyJeBUJXczzjII2TOZGZ5zfpFMdB52zCUyVaRFZlw_MeC8_SgziZR5EISgkrQQIvUuk5ul6Cvlv9v6yu8GvXKsXlfJyWoSXiMT3Ucb5jrE7d30Rvki_ABuz6vc
linkProvider EBSCOhost
openUrl ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Ajournal&rft.genre=article&rft.atitle=%E5%9F%BA%E4%BA%8E%E6%94%B9%E8%BF%9BEMD-CIIT%E9%99%8D%E5%99%AA%E7%AE%97%E6%B3%95%E7%9A%84INS%2F5G%E7%BB%84%E5%90%88%E5%AF%BC%E8%88%AA%E6%96%B9%E6%B3%95&rft.jtitle=%E7%B3%BB%E7%BB%9F%E5%B7%A5%E7%A8%8B%E4%B8%8E%E7%94%B5%E5%AD%90%E6%8A%80%E6%9C%AF&rft.au=%E8%B5%B5%E4%BA%91%E9%BE%99&rft.au=%E5%AD%99%E9%AA%9E&rft.au=%E7%AE%80%E9%91%AB&rft.au=%E6%9D%8E%E4%B8%80%E5%85%B5&rft.date=2024-12-01&rft.pub=%E5%93%88%E5%B0%94%E6%BB%A8%E5%B7%A5%E7%A8%8B%E5%A4%A7%E5%AD%A6%E4%BF%A1%E6%81%AF%E4%B8%8E%E9%80%9A%E4%BF%A1%E5%B7%A5%E7%A8%8B%E5%AD%A6%E9%99%A2%2C%E9%BB%91%E9%BE%99%E6%B1%9F%E5%93%88%E5%B0%94%E6%BB%A8+150001&rft.issn=1001-506X&rft.volume=46&rft.issue=12&rft.spage=4203&rft.epage=4212&rft_id=info:doi/10.12305%2Fj.issn.1001-506X.2024.12.29&rft.externalDocID=xtgcydzjs202412029
thumbnail_s http://utb.summon.serialssolutions.com/2.0.0/image/custom?url=http%3A%2F%2Fwww.wanfangdata.com.cn%2Fimages%2FPeriodicalImages%2Fxtgcydzjs%2Fxtgcydzjs.jpg