多模卫星组合导航容错滤波算法

Fault-tolerant filtering algorithm for integrated navigation via multiple mould satellite combination

多模卫星组合导航技术目前是导航领域重要的发展方向。针对多模卫星系统可能存在故障卫星而导致系统定位失效的问题,提出了一种基于联邦滤波的多模卫星容错组合导航算法,并提出了一种改进的残差故障检测方法,完成了一种北斗/GPS/GLONASS容错组合导航算法的设计。通过仿真验证了该算法对于故障卫星检测和隔离的有效性。

Integrated navigation via multiple mould satellite combination has become a development trend in the navigation field. To solve the problem of invalid position because of uncertainty of category and quantity of malfunctioned satellites in the multiple mould satellite system, a fault-tolerant integrated navigation algorithm of multiple mould satellite based on federal filter was proposed. First, a fault-tolerant system stnmture based on celled fusion mode was proposed. Then, a fault-tolerant integrated navigation algorithm of BD/GPS/GLONASS system was designed. The results show that the proposed algorithm using multi-satellite system for position is effective and the malfimctioned satellites of different satellite systems are detected and isolated synchronously. The system precision and reliability are improved.