基于故障状态检测的惯性/卫星信息融合技术

Information fusion technology of INS/GNSS based on fault state detection

为了提高惯性/卫星组合导航系统的可靠性及导航信息的精度,设计了SINS/GPS/Galileo/RDSS组合导航多信息融合方案,采用基于概率分布的残差2χ故障检测方法提高组合导航系统的容错性和可靠性.在此基础上采用了基于故障状态检测的新型自适应信息分配算法,并建立导航系统的数学模型,给出其状态方程、测量方程.最后将新算法与传统的Carlson固定信息分配算法进行仿真对比.结果表明,所设计算法具有智能调节组合导航系统信息融合方式的特点,且能够有效抑制载体在机动性较高情况下的大误差,在一定程度上提高了姿态、速度、位置等导航输出量的精度,具有重要的工程应用价值.

To improve the reliability and accuracy of INS/GNSS integrated navigation system,an information fusion scheme of SINS/GPS/Galileo/RDSS integrated navigation system was designed,and the chi-square testing method based on probability distribution was adopted to improve the fault tolerance and the reliability of the system.On this condition,a new self-adaption distribution algorithm based on the fault state detection was adopted,and the model of navigation system was established.The states function and measurement equation were given.This new algorithm was simulated and compared with the traditional distribution algorithm of Carlson.The results show that the new algorithm can adjust the distribution coefficients of the real-time system.The system errors are effectively restrained by this algorithm,especially under the condition of high maneuvering,and the precisions of navigation output such as position,velocity and location are improved to some degree.