| Summary: | 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.
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