Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU System
The global navigation satellite system (GNSS) struggles to deliver the precision and reliability required for positioning, navigation, and timing (PNT) services in environments with severe interference. Fifth-generation (5G) cellular networks, with their low latency, high bandwidth, and large capaci...
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2025-02-01
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| author | Zhongliang Deng Zhichao Zhang Zhenke Ding Bingxun Liu |
| author_facet | Zhongliang Deng Zhichao Zhang Zhenke Ding Bingxun Liu |
| author_sort | Zhongliang Deng |
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| description | The global navigation satellite system (GNSS) struggles to deliver the precision and reliability required for positioning, navigation, and timing (PNT) services in environments with severe interference. Fifth-generation (5G) cellular networks, with their low latency, high bandwidth, and large capacity, offer a robust communication infrastructure, enabling 5G base stations (BSs) to extend coverage into regions where traditional GNSSs face significant challenges. However, frequent multi-sensor faults, including missing alarm thresholds, uncontrolled error accumulation, and delayed warnings, hinder the adaptability of navigation systems to the dynamic multi-source information of complex scenarios. This study introduces an advanced, tightly coupled GNSS/5G/IMU integration framework designed for distributed PNT systems, providing all-source fault detection with weighted, robust adaptive filtering. A weighted, robust adaptive filter (MCC-WRAF), grounded in the maximum correntropy criterion, was developed to suppress fault propagation, relax Gaussian noise constraints, and improve the efficiency of observational weight distribution in multi-source fusion scenarios. Moreover, we derived the intrinsic relationships of filtering innovations within wireless measurement models and proposed a time-sequential, observation-driven full-source FDE and sensor recovery validation strategy. This approach employs a sliding window which expands innovation vectors temporally based on source encoding, enabling real-time validation of isolated faulty sensors and adaptive adjustment of observational data in integrated navigation solutions. Additionally, a covariance-optimal, inflation-based integrity protection mechanism was introduced, offering rigorous evaluations of distributed PNT service availability. The experimental validation was carried out in a typical outdoor scenario, and the results highlight the proposed method’s ability to mitigate undetected fault impacts, improve detection sensitivity, and significantly reduce alarm response times across step, ramp, and multi-fault mixed scenarios. Additionally, the dynamic positioning accuracy of the fusion navigation system improved to 0.83 m (<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>1</mn><mi>σ</mi></mrow></semantics></math></inline-formula>). Compared with standard Kalman filtering (EKF) and advanced multi-rate Kalman filtering (MRAKF), the proposed algorithm achieved 28.3% and 53.1% improvements in its <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>1</mn><mi>σ</mi></mrow></semantics></math></inline-formula> error, respectively, significantly enhancing the accuracy and reliability of the multi-source fusion navigation system. |
| format | Article |
| id | doaj-art-d236fe72147a43ed825ea520207f31b0 |
| institution | DOAJ |
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| language | English |
| publishDate | 2025-02-01 |
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| spelling | doaj-art-d236fe72147a43ed825ea520207f31b02025-08-20T03:12:35ZengMDPI AGSensors1424-82202025-02-0125396510.3390/s25030965Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU SystemZhongliang Deng0Zhichao Zhang1Zhenke Ding2Bingxun Liu3School of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaSchool of Electronic Engineering, Beijing University of Posts and Telecommunications, Beijing 100876, ChinaThe global navigation satellite system (GNSS) struggles to deliver the precision and reliability required for positioning, navigation, and timing (PNT) services in environments with severe interference. Fifth-generation (5G) cellular networks, with their low latency, high bandwidth, and large capacity, offer a robust communication infrastructure, enabling 5G base stations (BSs) to extend coverage into regions where traditional GNSSs face significant challenges. However, frequent multi-sensor faults, including missing alarm thresholds, uncontrolled error accumulation, and delayed warnings, hinder the adaptability of navigation systems to the dynamic multi-source information of complex scenarios. This study introduces an advanced, tightly coupled GNSS/5G/IMU integration framework designed for distributed PNT systems, providing all-source fault detection with weighted, robust adaptive filtering. A weighted, robust adaptive filter (MCC-WRAF), grounded in the maximum correntropy criterion, was developed to suppress fault propagation, relax Gaussian noise constraints, and improve the efficiency of observational weight distribution in multi-source fusion scenarios. Moreover, we derived the intrinsic relationships of filtering innovations within wireless measurement models and proposed a time-sequential, observation-driven full-source FDE and sensor recovery validation strategy. This approach employs a sliding window which expands innovation vectors temporally based on source encoding, enabling real-time validation of isolated faulty sensors and adaptive adjustment of observational data in integrated navigation solutions. Additionally, a covariance-optimal, inflation-based integrity protection mechanism was introduced, offering rigorous evaluations of distributed PNT service availability. The experimental validation was carried out in a typical outdoor scenario, and the results highlight the proposed method’s ability to mitigate undetected fault impacts, improve detection sensitivity, and significantly reduce alarm response times across step, ramp, and multi-fault mixed scenarios. Additionally, the dynamic positioning accuracy of the fusion navigation system improved to 0.83 m (<inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>1</mn><mi>σ</mi></mrow></semantics></math></inline-formula>). Compared with standard Kalman filtering (EKF) and advanced multi-rate Kalman filtering (MRAKF), the proposed algorithm achieved 28.3% and 53.1% improvements in its <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>1</mn><mi>σ</mi></mrow></semantics></math></inline-formula> error, respectively, significantly enhancing the accuracy and reliability of the multi-source fusion navigation system.https://www.mdpi.com/1424-8220/25/3/965trusted PNT servicesfault tolerance navigationfault detection and troubleshootingdistributed fusionrobust navigation |
| spellingShingle | Zhongliang Deng Zhichao Zhang Zhenke Ding Bingxun Liu Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU System Sensors trusted PNT services fault tolerance navigation fault detection and troubleshooting distributed fusion robust navigation |
| title | Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU System |
| title_full | Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU System |
| title_fullStr | Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU System |
| title_full_unstemmed | Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU System |
| title_short | Multi-Source, Fault-Tolerant, and Robust Navigation Method for Tightly Coupled GNSS/5G/IMU System |
| title_sort | multi source fault tolerant and robust navigation method for tightly coupled gnss 5g imu system |
| topic | trusted PNT services fault tolerance navigation fault detection and troubleshooting distributed fusion robust navigation |
| url | https://www.mdpi.com/1424-8220/25/3/965 |
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