一种基于惯性辅助的卫星信息容错技术

Research on A Fault Tolerant Technology of Satellite Information Based on Inertial Assist

对于机载捷联惯性卫星组合导航系统而言,当载机处于大动态或者其他卫星信号不连续情况时,卫星提供的速度、位置等量测信息可能会出现跳变,进而影响组合导航精度。介绍了惯性导航、卫星导航及其组合导航系统的基本原理和优缺点,分析了卫星量测不可避免出现跳点时组合导航系统Kalman滤波器的估计效果,对基于惯性辅助的卫星信息容错技术进行研究,提出了一种新的卫星信号野值剔除与滤波改进方法。新方法既保证了量测向量原有的统计特性,同时将野值带来的影响去除。半实物仿真分析结果表明,滤波器的估计稳定性得到明显提升,组合导航系统的速度和位置精度分别提升了约30%和35%。

For the airborne strapdown inertial satellite integrated navigation system, when the airborne aircraft is in large dynamics or other satellite signals are discontinuous, the velocity and position measurement information provided by the satellite may jump, which could affect the integrated navigation accuracy. The inertial navigation, satellite navigation, the basic principle and advantages and disadvantages of integrated navigation system are introduced in this paper. The estimation effect of Kalman filter in integrated navigation system is analyzed when the satellite measurement inevitably appears hop point. The fault tolerant technology of satellite information based on inertial assist is studied, and a new method for outlier elimination and filtering improvement of satellite signal is put forward. The new method not only ensures the original statistical characteristics of the measurement vector, but also removes the influence caused by the outliers. The results of the hardwire simulation show that the estimation stability of the filter is significantly improved, and the speed and position accuracy of the integrated navigation system are improved by about 30% and 35%, respectively.