基于增广伪距辅助的容错导航层次滤波方法

Fault-tolerant Navigation Hierarchical Filtering Method Based on Augmented Pseudo-range Assist

针对惯性卫星组合导航系统中卫星信号易受干扰且卫星出现单星、双星故障等问题,提出一种基于增广伪距辅助的容错导航系统设计方案,并在信息融合策略中采用层次滤波算法对系统故障进行检测与隔离,以提高系统的容错性和精度。在罗兰C/惯性/卫星组合导航的系统框架下,研究了基于层次结构的容错滤波算法,利用各层滤波器滤波解的偏差信息构造检测统计量,实现对少星条件下多故障的检测和排除。仿真结果表明,方案能有效地实现导航卫星数有限情况下的双星故障检测、隔离和系统重构,且导航计算过程保持了良好的算法连续性、稳定性和系统精度。

Aiming at the problem that satellite signals in the inertial satellite integrated navigation system are susceptible to interference and single-star and double-star faults in the satellite,a design scheme of fault-tolerant navigation system based on augmented pseudo-range-assisted is proposed,and the hierarchical filtering algorithm is adopted in the information fusion strategy.System faults are detected and isolated to improve system fault tolerance and accuracy.In the system framework of Roland C/inertial/satellite integrated navigation,we studies the fault-tolerant filtering algorithm based on hierarchical structure,and uses the deviation information of each layer filter to construct the detection statistics to realize the detection and exclude of multiple faults under the condition of few stars.The simulation results show that the designed scheme can effectively realize the double star fault detection,isolation and system reconstruction under the limited number of navigation satellites,and the navigation calculation process maintains good algorithm continuity,stability and system accuracy.