基于强跟踪滤波器的SINS/GPS系统故障检测方法

Fault detection technology for SINS/GPS system with a strong tracking filter

为了保证导航系统的导航精度和工作可靠性 ,研究了 SINS/ GPS组合导航系统的故障检测方法。将强跟踪Kalman滤波器用于该导航系统的故障检测中 ,并提出了一种自适应调节的带多重次优渐消因子的 Kalman滤波器 ,给出了仿真结果。结果表明 :采用该滤波器 ,对于突变状态具有强跟踪能力 ;在滤波器达到稳定时 ,仍保持对缓变状态以及突变状态的强跟踪能力 ,从而提高 SINS/ GPS组合导航系统的导航精度和工作可靠性 。

The navigation accuracy and reliability of a strap down inertial navigation system (SINS)/global positioning system (GPS) integrated navigation system were improved using a fault detection method with a strong tracking Kalman filter. The Kalman filter used adaptive adjustments and multiple suboptimization fade factors. A simulation demonstrates that the filter can track abrupt state changes and gradual changes when operating at steady state. Therefore, the filter can greatly improve navigation accuracy...