ファクターグラフ最適化に基づくGNSS-RTK/INS/オドメータ融合のための二段階GNSS外れ値検出
Two stage GNSS outlier detection for factor graph optimization based GNSS-RTK/INS/odometer fusion
GNSSの生の擬似距離に含まれる外れ値を、ドップラー測定とIMU・オドメータの予測値を用いた二段階の手法で検出し、ファクターグラフ最適化によるGNSS-RTK/INS/オドメータ融合の堅牢性を高めた論文。
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著者: Baoshan Song, Penggao Yan, Xiao Xia, Yihan Zhong, Weisong Wen, Li-Ta Hsu
分類: cs.RO
原文アブストラクト
Reliable GNSS positioning in complex environments remains a critical challenge due to non-line-of-sight (NLOS) propagation, multipath effects, and frequent signal blockages. These effects can easily introduce large outliers into the raw pseudo-range measurements, which significantly degrade the performance of global navigation satellite system (GNSS) real-time kinematic (RTK) positioning and limit the effectiveness of tightly coupled GNSS-based integrated navigation system. To address this issue, we propose a two-stage outlier detection method and apply the method in a tightly coupled GNSS-RTK, inertial navigation system (INS), and odometer integration based on factor graph optimization (FGO). In the first stage, Doppler measurements are employed to detect pseudo-range outliers in a GNSS-only manner, since Doppler is less sensitive to multipath and NLOS effects compared with pseudo-range, making it a more stable reference for detecting sudden inconsistencies. In the second stage, pre-integrated inertial measurement units (IMU) and odometer constraints are used to generate predicted double-difference pseudo-range measurements, which enable a more refined identification and rejection of remaining outliers. By combining these two complementary stages, the system achieves improved robustness against both gross pseudo-range errors and degraded satellite measuring quality. The experimental results demonstrate that the two-stage detection framework significantly reduces the impact of pseudo-range outliers, and leads to improved positioning accuracy and consistency compared with representative baseline approaches. In the deep urban canyon test, the outlier mitigation method has limits the RMSE of GNSS-RTK/INS/odometer fusion from 0.52 m to 0.30 m, with 42.3% improvement.
関連論文
- 等式・不等式制約を統合した二分岐型INS/GNSS融合GNSS/INS融合
