Page 56 - 《武汉大学学报（信息科学版）》2025年第10期

第 50 卷 第 10 期 武 汉 大 学 学 报（ 信 息 科 学 版 ） Vol.50 No.10
2025 年 10 月 Geomatics and Information Science of Wuhan University Oct. 2025

引文格式：王成龙,冯威,黄丁发 . 复杂环境 GNSS/INS 组合定位异常探测自适应方法[J]. 武汉大学学报（信息科学版）,2025,
50(10):1991-2000.DOI:10.13203/j.whugis20230290
Citation：WANG Chenglong,FENG Wei,HUANG Dingfa.Adaptive Method for Outlier Detection of GNSS/INS Integrated Po‑
sitioning in Complex Environments[J]. Geomatics and Information Science of Wuhan University, 2025, 50(10): 1991-2000. DOI:
10.13203/j.whugis20230290

复杂环境 GNSS/INS 组合定位异常探测

自适应方法

王成龙 冯 威 黄丁发 1
1
1
1 西南交通大学地球科学与工程学院，四川 成都，611756
摘 要：复杂环境下全球导航卫星系统（global navigation satellite system, GNSS）信号易受干扰，导致 GNSS/惯性导航系
统（inertial navigation system，INS）组合导航定位异常，准确探测定位异常是组合导航完好性的重要指标。针对常用的固
定阈值探测模式存在误（漏）报率高的问题，构建了基于异常特性和三阈值的模糊逻辑隶属函数，归一化后进行指数加权
平滑，提出了新的检验量和自适应异常探测控制准则。车载 GNSS/INS 组合动态实验结果表明，与传统的探测方法相
比，所提方法异常探测的误报率降低了 93% 以上，提高了对交迭区域检验量的判定能力，可有效降低误报率；检测时间窗
自适应调节，响应速度快，探测成功率保持在 98% 以上，大幅度提升了异常探测的性能，增强了 GNSS/INS 组合导航定
位的可靠性。
关键词：GNSS；INS；组合导航定位；异常探测；模糊逻辑；自适应
中图分类号：P228 文献标识码：A 收稿日期：2024‑05‑07
DOI：10.13203/j.whugis20230290 文章编号：1671‑8860（2025）10‑1991‑10
Adaptive Method for Outlier Detection of GNSS/INS Integrated Positioning
in Complex Environments

WANG Chenglong FENG Wei HUANG Dingfa 1
1
1
1 Faculty of Geosciences and Engineering, Southwest Jiaotong University, Chengdu 611756, China
Abstract： Objectives: In complex environments, global navigation satellite system (GNSS) signals are sus‑
ceptible to interference, leading to the presence of outliers in positioning results. Enhancing the perfor‑
mance of GNSS/inertial navigation system (INS) integrated navigation effectively and accurately detecting
outliers in positioning results are crucial indicators of system integrity. Methods: To address the issue of
high false positive and false negative rates in current single-threshold detection methods, a novel approach
involves constructing fuzzy logic membership functions based on outlier characteristics and three thresholds.
After normalization and exponential weighted smoothing, a new detection metric is formed, and an adap‑
tive outlier detection control criterion is designed. Results: The results demonstrate the effectiveness of the
proposed method. It enhances the determination capability of detection metrics in overlapping areas, effec‑
tively reducing false positive rates exceeding 93% compared to traditional methods. Additionally, the method
incorporates adaptive adjustment of the detection time window, rapid response speed, and high detection
success rate exceeding 98%. Conclusions: This algorithm improves the ability to assess measurements in
overlapping regions while incorporating the feature of adaptively adjusting the detection time window. Outliers
are almost never missed, and it responds quickly to abnormal conditions after the recovery process, prompt‑
ly releasing fault warnings. Overall, compared to conventional detection methods, this algorithm signifi‑

基金项目：国家自然科学基金（42171429）。
第一作者：王成龙，博士生，主要从事 GNSS/INS 组合导航定位方面的研究。W2022310535@my.swjtu.edu.cn
通信作者：冯威，博士，副教授。wfeng@swjtu.edu.cn