捷联惯导系统传递对准容错滤波方法研究

Study on fault tolerant filtering approaches for transfer alignment of SINS

研究当基准信息出现短时异常情况下的捷联惯导系统动基座传递对准问题。用于传递对准的基准信息，容易受到测量噪声、电磁干扰、通讯误码等因素的影响，而出现短时异常的情况，这对于滤波器来说是致命的。特别是在滤波快结束时出现的异常情况。由于常规卡尔曼滤波器对异常基准信息不具鲁棒性，滤波将产生较大波动甚至发散，提出利用自适应卡尔曼滤波和抗野值卡尔曼滤波消除异常基准信息对滤波器的影响，并对比分析了两种滤波方法的优缺点，分析表明，抗野值卡尔曼滤波对异常基准信息具有更好的鲁棒性，计算量比自适应卡尔曼滤波要小，而且更加稳定，更适合实际工程应用。最后通过试验验证表明，上述分析和结论是正确和有效的。

The problem of transfer alignment of SINS on reference information with faults was studied. The reference information can be influenced by measure noises, electro magnetic interference and transmission error code when it is transferred. This is lethal to the filter, especially when it occurs at the end of transfer alignment. Nor- mal Kalman filter can not be robust to reference information with faults and even can be leaded to divergence. So, Adaptive Kalman filter and Robust Kalman filter were used to reduce the bad influence of outliers and the two filtering approaches were compared. The comparison shows that the Robust Kalman filter which is fault-tolerant to outliers has a better robustness and higher computing efficient, can satisfy the requirements of the practical application demands better. The experiment results show the feasibility and effectiveness of the proposed methods and conclusions.