摘要
当星光导航或者卫星导航信息出现故障时,捷联惯性/星光/卫星组合导航系统组合精度将严重下降。针对该问题,本文提出了一种基于状态χ2检验的容错捷联惯性/星光/卫星组合导航算法,设计了状态χ2检验的故障检测方法,提出了组合导航系统的故障诊断和容错导航算法。利用仿真试验对所提算法进行了验证,结果表明基于状态χ2检验的容错捷联惯性/星光/卫星组合导航算法是可行和有效的,能够有效提高组合导航的精度和可靠性。
When some faults occurred in the reference navigation information,such as STAR or GNSS navigation information,the navigation precision of SINS/STAR/GNSS integrated navigation system would be decreased greatly.In order to solve this problem,a fault-tolerant SINS/STAR/GNSS integrated navigation algorithm is proposed based on the state chi-square test.The fault detection function is presented for the state chi-square test.Based on the detection function,a fault diagnosis approach is designed.The results of simulations show that the algorithm is available and feasible.And the integrated navigation precision and reliability are improved.
关键词
组合导航
故障诊断与容错
状态χ2检验
integrated navigation
fault diagnosis and fault-tolerant
state chi-square test
