CAJ | 학술논문

针对卫星或陆基导航信息出现故障时,捷联惯性/GPS/陆基复合导航系统精度严重下降的问题,设计了一种基于双状态χ2 检验法的捷联惯性/GPS/陆基容错复合导航方案. 基于联邦滤波设计思想,通过信息分配系数的自适应调节,动态地控制GPS和陆基导航子系统的信息融合等级,并利用两个状态递推器交替进行滤波校正与故障检测, 以实时修复与隔离故障子系统,保证滤波的稳定性和精度 .仿真结果表明,这种基于双状态χ2 检验法的捷联惯性/GPS陆/基容错复合导航方案能够有效减小故障信息对组合精度的影响,提高组合导航系统的精度和可靠性.
침대위성혹륙기도항신식출현고장시,첩련관성/GPS/륙기복합도항계통정도엄중하강적문제,설계료일충기우쌍상태χ2 검험법적첩련관성/GPS/륙기용착복합도항방안. 기우련방려파설계사상,통과신식분배계수적자괄응조절,동태지공제GPS화륙기도항자계통적신식융합등급,병이용량개상태체추기교체진행려파교정여고장검측, 이실시수복여격리고장자계통,보증려파적은정성화정도 .방진결과표명,저충기우쌍상태χ2 검험법적첩련관성/GPS륙/기용착복합도항방안능구유효감소고장신식대조합정도적영향,제고조합도항계통적정도화가고성.
In order to improve the accuracy of SINS/GPS/land-based integrated navigation system when satellite or ground-based navigation fails, a novel fault-tolerant integrated navigation scheme is de-signed based on two-state chi-square test.Based on Federal Filter, the integration level of land-based and GPS navigation subsystem can be adjusted dynamically by adaptive information distribution coefficients and adopt two-state propagator alternately for filtering correction and fault detection, to real-time repair and isolate the fault subsystem, and to ensure filter stability and accuracy.The simulation results show that the fault-tolerant scheme can reduce the influence of fault on integrated navigation precision, and im-prove the accuracy and reliability of the integrated navigation system.