一种基于改进型KALMAN滤波器的导弹故障检测算法

A Fault Detection Algorithm of Missle Based on Improved Kalman Filter

常规卡尔曼滤波器有一大缺点，它要求精确的模型和噪声统计，但实际问题中，大多数情况上述要求不能满足。本文给出了考虑滤波器初始条件不精确性的Ｋａｌｍａｎ滤波器表达式。利用这种Ｋａｌｍａｎ滤波方法进行故障检测，降低了误报警率，提高了鲁棒性。由于导弹姿态控制系统模型的精确性有限，常规Ｋａｌｍａｎ滤波方法因其鲁棒性差很难检测故障，这种方法能有效检测故障。仿真算例表明此方法非常有效。

The drawbacks of the traditional Kalman filter arise from its requirement of accurate model and noise statistics which generally can't be satisfied in engineering applications.An improved Kalman filter including inaccuracy in filter's initial condition is presented in this paper.By reducing the requirement of model accuracy,it can improves the robustness of Kalman filter under the model mismatch.Fault detection with this filter reduces the fault alarm rate owing to its stronger robustness.Because the accuracy of missile attitude control system model is limited,it is difficult to detect fault for the traditional Kalman filter owing to its weak robustness.The improved algorithm can detect faults effectively.A simulation example shows its validity.