惯性辅助的北斗导航故障自适应方法研究

北斗导航系统完好性是指北斗导航系统不能用于导航服务或导航精度超出给定范围时,具备及时发现故障并通知用户的能力.针对北斗导航完好性检测问题,为改善北斗导航定位系统的精度、连续性、完好性和可用性,研究了基于惯性辅助的北斗导航故障检测方法,设计了北斗导航系统的量测修正与故障检测实现方案,构建了基于新息正交性的自适应滤波北斗/SINS紧组合导航架构,根据滑动窗口内新息动态变化特性修正系统量测噪声方差,在北斗导航信号受到较大干扰、发生异常的情况下,对品质较差的卫星测量信号进行识别,并对检测超出一定阈值的突变卫星信号实现故障隔离,从而提高系统适应能力,增强北斗/SINS紧组合导航系统容错性.构建了北斗/SINS组合导航系统仿真验证模型,结果表明,基于惯性辅助的北斗导航方法能够有效检测出卫星信号故障,提高了系统的适应性和定位精度.

Research on Fault Detection and Adaptive Method of Beidou Navigation Based on SINS Assist

The Beidou navigation system integrity refers to the Beidou navigation system cannot be used for navigation services or navigation accuracy beyond a given range,cannot be able to find fault and notify the user. Aim at the Beidou navigation integrity detection problem,in order to improve the Beidou naviga-tion positioning system accuracy,continuity,integrity and availability,this study of the Beidou navigation inertial aided fault detection method based on the Beidou navigation system,design scheme of measure-ment correction and correction of fault detection,propose an adaptive filter based on the new information orthogonality is constructed for the Beidou/SINS compact integrated navigation system. The measurement noise variance of the system is modified according to the new information dynamic change characteristic of the sliding window. In the Beidou navigation signal under a larger interference,abnormal situation,Identi-fy of the poor quality satellite signals and the detection of a certain threshold value of the satellite signal to achieve the fault isolation,thus to improve the system adaptability,enhance the Beidou/SINS integrated navigation system fault tolerance. Finally, we build the Beidou / SINS integrated navigation simulation system to validate the model. The results show that:Based on the inertial aided Beidou navigation method can effectively detect fault,in order to improve the adaptability and accuracy of the system.