捷联惯导系统级余度技术研究(上)

Study on Strapdown Inertial Navigation Systematic Redundancy(Ⅰ)

为提高捷联惯导系统(SINS)长时间工作的导航精度,分析了SINS的姿态角、飞行速度和定位三类基本误差,以及系统误差的表示方法。给出了SINS与全球卫星定位系统(GPS)、多普勒导航系统(DNS)组合导航系统的状态方程和误差分析,在给定条件下进行了仿真试验。在此基础上,采用残差χ2和状态χ2检验法,对SINS/GPS,SINS/DNS组合系统中子系统故障检测与隔离的原理和方法进行了研究,并用残差χ2检验法对容错组合导航系统进行了仿真。结果表明,采用SINS/GPS,SINS/DNS组合系统可提高导航精度,用残差χ2检验法可判定发生故障的子系统并进行隔离。

To improve the navigation accuracy of strapdown inertial navigation system (SINS) in long time flying, the three general errors of attitude, velocity and station and system error were analyzed in this paper. The state equation and error analysis of SINS combined with globe positioning system (GPS) and Doppler navigation system (DNS) were also presented. The simulation in certain condition was made. On this base, the principle and method of fault inspection and isolation for the subsystem in SINS/GPS and SINS/DNS combined system by the residual error χ~2 and state χ~2 error inspection method. The simulation for fault tolerant combined navigation system was made using residual error χ~2 inspection. The results showed that SINS/GPS and SINS/DNS could improve navigation accuracy, and the faulted subsystem could be determined and isolated by residual error χ~2 inspection.