改进的残差检验法在组合导航系统故障检测中的应用

Improved Residual Test Method and its Application for Failure Detection of Integrated Navigation System

针对大飞机这种对安全性要求极高的运载器来说组合导航技术能够极大提高导航精度。对组合导航系统进行实时的故障检测可提高导航系统的可靠性。因此在故障检测时提出采用状态递推值代替卡尔曼滤波的一步预测值,构造组合导航系统的伪残差。并利用卡尔曼滤波输出值周期性重置状态递推值以及分量检测的方法,提高故障检测灵敏度。该方法不仅能够检测突变故障,对变化缓慢的软故障,只要故障积累到一定值就能正确检测,同时能够定位故障位置。通过对INS/GPS组合导航系统的故障检测和隔离的仿真验证算法的有效性。

Integrated navigation technology is used to improve the accuracy of large aircraft's navigation.Real-time fault detection for integrated navigation system can improve the reliability of navigation system.In this research,state propagator value replaces the Kalman filtering step forecast and constructs the subnormal residual of the navigation system in fault detection.State propagator value,resetting by the output value of Kalman filtering,with component detection method to improve fault detection sensitivity.This method not only can detect mutation failure,but also the soft failure can be correctly detected as long as the fault accumulated to a certain value and the fault location can be positioned at the same time.Directing toward the INS/GPS system,the fault detection simulation is carried out with the proposed method,and good results are achieved。