多传感器容错综合导航系统技术及其应用研究

文中结合经典的故障检测、隔离方法和联邦卡尔曼滤波,提出了以惯性导航系统为基准的多传感器容错综合导航系统设计方案,并在信息融合策略中采用了"故障诊断周期"方法对系统故障和野值进行了不同处理,以提高系统滤波的精度和数据的连续性.以SINS/GPS/Doppler组合导航系统为例, 结合载体的使用要求以及各导航子系统的使用范围和误差特性进行了设计方案的可行性分析.研究结果表明, 所设计的方案既能有效地实现系统故障检测、隔离和系统重构, 而且整个导航计算过程保持了良好的算法连续性、稳定性和系统精度.

The Research on Techniques and Application of Multisensor Fault-tolerant Integrated Navigation System

To improve filtering accuracy and data continuity,the design of fault-tolerant integrated navigation system based on inertial navigation system was proposed,which is integrating classical fault detection and isolation algorithm and federated Kalman filtering,and adopting fault diagnosis period approach to deal with system fault and outlier.Considering the carrier usage requirement,each navigation system usage scope and characteristics,the feasibility of the proposed design was analyzed by an actual INS/GPS/...