Abstract
China is promoting the construction of an integrated positioning, navigation, and timing (PNT) systems with the BeiDou Navigation Satellite System (BDS) as its core. To expand the positioning coverage area and improve the positioning performance by taking advantage of device-to-device (D2D) and self-organizing network (SON) technology, a BDS/SON integrated positioning system is proposed for the fifth-generation (5G) networking environment. This system relies on a combination of time-of-arrival (TOA) and BeiDou pseudo-range measurements to effectively supplement BeiDou signal blind spots, expand the positioning coverage area, and realize higher precision in continuous navigation and positioning. By establishing the system state model, and addressing the single-system positioning divergence and insufficient accuracy, a robust adaptive fading filtering (RAF) algorithm based on the prediction residual is proposed to suppress gross errors and filtering divergence in order to improve the stability and accuracy of the positioning results. Subsequently, a federated Kalman filtering (FKF) algorithm operating in fusion-feedback mode is developed to centrally process the positioning information of the combined system. Considering that the prediction error can reflect the magnitude of the model error, an adaptive information distribution coefficient is introduced to further improve the filtering performance. Actual measurement and significance test results show that by integrating BDS and SON positioning data, the proposed algorithm realizes robust, reliable, and continuous high precision location services with anti-interference capabilities and good universality. It is applicable in scenarios involving unmanned aerial vehicles (UAVs), autonomous driving, military, public safety and other contexts and can even realize indoor positioning and other regional positioning tasks.
Highlights
The BeiDou Navigation Satellite System (BDS)-related data were collected using from a multisystem multifrequency high-precision Global navigation satellite system (GNSS) receiver with UR4B0-D model, and six self-organizing network (SON) positioning terminals were used to collect the precise real-time kinematic (RTK) coordinates of five anchor nodes and the distance between each anchor node and an unknown node; all observation information was transmitted to the unknown node for the positioning calculation
The positioning solution is expressed in the BeiDou coordinate system (BDCS) [33]
In a positioning system that relies on BDS signals alone, when abnormal observations occur, the results of the weighted least squares (WLS) algorithm are relatively stable; there is no correlation between the previous and subsequent epochs, the amount of calculation is large, and the accuracy is low
Summary
Global navigation satellite system (GNSS), as an indispensable foundation for the collection and management of information on a national scale, has played important roles in traffic management, emergency response, and marine and national defense. In Japan, and the Indian Regional Navigation Satellite System (IRNSS) [7], compatibility and interoperability have become major trends in the future development of GNSS, and academic journals and conferences worldwide have published many articles addressing. As an outcome of this research, it has been noted that after the collection, screening and fusion of multi-constellation and multifrequency GNSS data, the dependence on any single constellation is weakened, and the risk of performance degradation or service interruption caused by electromagnetic interference, terrain occlusion, ionospheric scintillation, denial of service or other factors are reduced, significantly improving various navigation performance indicators [14]
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