基于双状态卡方故障检测的组合导航系统

故障检验与隔离是利用联邦滤波实现组合导航系统安全可靠运行的关键技术。针对常规残差卡方检验法对于慢变故障检验效果差，以及状态卡方检验受到初值误差、系统噪声和建模误差影响导致子系统被频繁隔离的问题，提出一种改进的SINS/GPS/ADS/DVL组合导航系统故障检验算法。该算法采用2个状态推进器交替地对滤波数据进行重置，避免状态递推器被未检测出来的故障污染。实验结果表明，改进的算法能够有效提高故障检验的灵敏度，增强组合导航系统的可靠性。

Integrated navigation system based on fault detection using double state Chi-square test

Fault detection and isolation is the key technology to realize safe and reliable operations of integrated navigation systems with the federated filtering. To solve the problems that the traditional residual Chi-square test has poor effect on the slow fault test, and that the state Chi-square test is easily affected by initial value errors, system noise and modeling errors, thereby increasingly deviating the state recursive value from the real values and further resulting in frequent isolation of the subsystems, this paper proposes a double state Chi-square test based integrated navigation system with federated filtering. In this algorithm, two state thrusters are used to reset the Kalman filter data alternately to avoid the pollution caused by the undetected fault of the state thrusters. The simulation results show that the improved algorithm can improve the sensitivity of fault detection and enhance the reliability of the integrated navigation system.