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论文:2016,Vol:34,Issue(3):449-455 |
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引用本文： |
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耿 峰, 祝小平, 周 洲. 一种有效的组合导航容错滤波技术研究[J]. 西北工业大学学报 |
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Geng Feng, Zhu Xiaoping, Zhou Zhou. Research on an Effective Integrated Navigation Failure-Tolerance Filtering Technology[J]. Northwestern polytechnical university |
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| 一种有效的组合导航容错滤波技术研究 |
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| 耿 峰1,2, 祝小平2, 周 洲3 |
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1. 西安导航技术研究所, 陕西 西安 710068;
2. 西北工业大学 第365研究所, 陕西 西安 710072;
3. 西北工业大学 航空学院, 陕西 西安 710072 |
| 摘要: |
| 为解决INS/多天线GNSS/MHS/DNS组合导航系统,一个或多个传感器的导航信息出现错误,导致整个组合导航系统定位精度严重下降甚至无法定位的问题,提出一种多模式联邦高斯和粒子容错滤波技术,提高组合导航系统的鲁棒性。该滤波技术基于无重置联邦滤波结构,考虑到组合系统的非线性非高斯特性,局部滤波采用高斯和粒子滤波算法,以提高滤波精度,同时利用粒子似然函数方法,进行局部滤波器故障检测并隔离,进而,根据检测与隔离结果,进行全局滤波模式切换与全局最优估计,最终得到精确可靠的导航信息。仿真分析结果表明,多模式联邦高斯和粒子容错滤波技术是有效的,在多个子系统出现故障情况下,组合导航系统仍能提供精确的导航信息。 |
| 关键词:
导航
组合
容错
故障诊断
传感器
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| Research on an Effective Integrated Navigation Failure-Tolerance Filtering Technology |
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| Geng Feng1,2, Zhu Xiaoping2, Zhou Zhou3 |
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1. Xi'an Research Institute of Navigation Technology, Xi'an 710068, China;
2. 365th Research Institute, Northwestern Polytechnical University, Xi'an 710072, China;
3. College of Aeronautics, Northwestern Polytechnical University, Xi'an 710072, China |
| Abstract: |
| For an INS/multi-antenna GNSS/MHS/DNS integrated navigation system, the navigation information errors of one or more sensors may cause the positioning accuracy of the entire integrated navigation system in serious decline, and even could not make the system work as usual. In order to solve this problem, a multi-mode federated Gaussian sum particle fault-tolerant filtering technology is proposed. It adopts a no reset federated filter framework, and in the locally filtering, a Gaussian sum particle filter algorithm is utilized to improve the precision of filtering for nonlinear and non Gaussian system, meanwhile, a particle likelihood function failure detection algorithm is used to detect and isolate failure sensors. The simulation studies presented here show that the proposed multi-mode federated Gaussian sum particle fault-tolerant filtering technology is feasible, and the designed multi-mode integrated navigation filter can achieve sufficient reliability and accuracy. |
| Key words:
navigation
integration
fault tolerance
fault detection
sensors
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| 收稿日期: 2015-10-27
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 耿峰(1977—),西安导航技术研究所高级工程师,主要从事导航、制导与控制的研究。
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