SINS/BD紧组合导航系统故障检测算法研究与实现

由于惯性导航系统和卫星导航系统具有良好的互补性与北斗导航系统的迅速发展，惯性/卫星紧组合导航系统得到广泛应用。但卫星导航系统的时变、易受干扰等特性，极易污染整个组合导航系统。因此，研究了一种新型的惯性/北斗紧组合导航系统的故障检测算法，在传统的卡方故障检测算法基础上，利用新息动态变化特性来识别故障星，并对故障星进行隔离，从而保证整个导航系统的稳定性与精度。最后基于嵌入式PC104平台，利用Qt Creator软件开发了多线程惯性/北斗紧组合导航系统，对所研究的算法进行了可靠验证。实验结果表明，所研究的故障检测算法能够有效地检测出卫星信号故障，能及时剔除故障星，大大降低了漏检、错检的概率，提高了整个导航系统的可靠性与精度。

The Study and Realization of Fault Detection Algorithm for SINS/BD Tight Integrated Navigation System

Since the inertial navigation system and satellite navigation system have good complementarity, and the rapid development of BD satellite navigation system, SINS/BD tight integrated navigation system has been widely used. The satellite navigation system is time-varying and vulnerable to interference, it is easy to pollute the entire integrated navigation system. Therefore, this paper studies a new fault detection algorithm for SINS/BD tight integrated navigation system. Based on the traditional Chi-square fault detection algorithm, using the dynamic characteristics of the new information to identify the fault star, then isolate the fault star so as to ensure the stability and precision of the navigation system. Finally, based on the embedded PC104 platform, the Qt Creator software is used to develop the multi-thread SINS/BD tight integrated navigation system, and a reliable experiment is carried out to verify the algorithm. The experimental results show that the proposed fault detection algorithm can effectively detect the satellite signal failure and timely remove the fault star, greatly reducing the probability of missed, wrong detection, improving the entire navigation system reliability and accuracy.