A SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations

A reliable framework for SINS/SAR/GPS integrated positioning systems is proposed for the case that sensors are in critical environments. Credibility is used to describe the difference between the true error and the initial setting standard deviation. Credibility evaluation methods for inertial measu...

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Autores principales:	Maoyou Liao, Jiacheng Liu, Ziyang Meng, Zheng You
Formato:	article
Lenguaje:	EN
Publicado:	MDPI AG 2021
Materias:	integrated positioning credibility evaluation chi-square test image matching Kalman filter data fusion Science Q
Acceso en línea:	https://doaj.org/article/4447946d86e240c1b4c57fa9e2d78525
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spelling	oai:doaj.org-article:4447946d86e240c1b4c57fa9e2d785252021-11-11T18:57:53ZA SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations10.3390/rs132144632072-4292https://doaj.org/article/4447946d86e240c1b4c57fa9e2d785252021-11-01T00:00:00Zhttps://www.mdpi.com/2072-4292/13/21/4463https://doaj.org/toc/2072-4292A reliable framework for SINS/SAR/GPS integrated positioning systems is proposed for the case that sensors are in critical environments. Credibility is used to describe the difference between the true error and the initial setting standard deviation. Credibility evaluation methods for inertial measurement unit (IMU), synthetic aperture radar (SAR), and global positioning system (GPS) are presented. In particular, IMU credibility is modeled by noises and constant drifts that are accumulated with time in a strapdown inertial navigation system (SINS). The quality of the SAR image decides the credibility of positioning based on SAR image matching. In addition, a cumulative residual chi-square test is used to evaluate GPS credibility. An extended Kalman filter based on a sensor credibility evaluation is introduced to integrate the measurements. The measurement of a sensor is either discarded when its credibility value is below a threshold or the variance matrix for the estimated state is otherwise adjusted. Simulations show that the final fusion positioning accuracy with credibility evaluation can be improved by 1–2 times compared to that without evaluation. In addition, the derived standard deviation correctly indicates the value of the position error with credibility evaluation. Moreover, the experiments on an unmanned ground vehicle partially verify the proposed evaluation method of GPS and the fusion framework in the actual environment.Maoyou LiaoJiacheng LiuZiyang MengZheng YouMDPI AGarticleintegrated positioningcredibility evaluationchi-square testimage matchingKalman filterdata fusionScienceQENRemote Sensing, Vol 13, Iss 4463, p 4463 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	integrated positioning credibility evaluation chi-square test image matching Kalman filter data fusion Science Q
spellingShingle	integrated positioning credibility evaluation chi-square test image matching Kalman filter data fusion Science Q Maoyou Liao Jiacheng Liu Ziyang Meng Zheng You A SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations
description	A reliable framework for SINS/SAR/GPS integrated positioning systems is proposed for the case that sensors are in critical environments. Credibility is used to describe the difference between the true error and the initial setting standard deviation. Credibility evaluation methods for inertial measurement unit (IMU), synthetic aperture radar (SAR), and global positioning system (GPS) are presented. In particular, IMU credibility is modeled by noises and constant drifts that are accumulated with time in a strapdown inertial navigation system (SINS). The quality of the SAR image decides the credibility of positioning based on SAR image matching. In addition, a cumulative residual chi-square test is used to evaluate GPS credibility. An extended Kalman filter based on a sensor credibility evaluation is introduced to integrate the measurements. The measurement of a sensor is either discarded when its credibility value is below a threshold or the variance matrix for the estimated state is otherwise adjusted. Simulations show that the final fusion positioning accuracy with credibility evaluation can be improved by 1–2 times compared to that without evaluation. In addition, the derived standard deviation correctly indicates the value of the position error with credibility evaluation. Moreover, the experiments on an unmanned ground vehicle partially verify the proposed evaluation method of GPS and the fusion framework in the actual environment.
format	article
author	Maoyou Liao Jiacheng Liu Ziyang Meng Zheng You
author_facet	Maoyou Liao Jiacheng Liu Ziyang Meng Zheng You
author_sort	Maoyou Liao
title	A SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations
title_short	A SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations
title_full	A SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations
title_fullStr	A SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations
title_full_unstemmed	A SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations
title_sort	sins/sar/gps fusion positioning system based on sensor credibility evaluations
publisher	MDPI AG
publishDate	2021
url	https://doaj.org/article/4447946d86e240c1b4c57fa9e2d78525
work_keys_str_mv	AT maoyouliao asinssargpsfusionpositioningsystembasedonsensorcredibilityevaluations AT jiachengliu asinssargpsfusionpositioningsystembasedonsensorcredibilityevaluations AT ziyangmeng asinssargpsfusionpositioningsystembasedonsensorcredibilityevaluations AT zhengyou asinssargpsfusionpositioningsystembasedonsensorcredibilityevaluations AT maoyouliao sinssargpsfusionpositioningsystembasedonsensorcredibilityevaluations AT jiachengliu sinssargpsfusionpositioningsystembasedonsensorcredibilityevaluations AT ziyangmeng sinssargpsfusionpositioningsystembasedonsensorcredibilityevaluations AT zhengyou sinssargpsfusionpositioningsystembasedonsensorcredibilityevaluations
_version_	1718431640812781568

A SINS/SAR/GPS Fusion Positioning System Based on Sensor Credibility Evaluations

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