基于联邦滤波的容错组合导航系统仿真分析

设计INS／GPS组合导航系统时，考虑到观测量GPS位置和速度是正相关的，可通过降低单个滤波器的维度形成两个局部滤波器，主滤波器融合局部滤波器的状态估计，得到整个组合导航系统的误差状态估计值。同时，根据各局部滤波器的故障情况选择输出，仅利用未失效系统的局部滤波器得到可靠的最优误差状态估计值，使得容错性能大大提高。结果表明，由于采用了并行运算，增加了系统的余度，有效提高了导航系统的精度和可靠性，有较好的容错性和环境适应性，具有较高的应用价值。

Simulation and Analysis of Fault- tolerance for Integrated Navigation System Based on Federated Filter

As INS/GPS integrated navigation system is designed, considering that the measurement of GPS position and velocity are positively correlated, two local filters can be formed by reducing the dimension of a single filter and the main filter fuses state estimation of the local filter to obtain the final estimated value of errors. Meanwhile, the output could be selected automatically according to the failure station of the local filter. By using formal local filter only to get the reliable error state estimate, it makes fault- tolerance greatly improved. The results show that the method effectively improve the accuracy and reliability of navi- gation systems by using parallel computing and increasing the system redundancy, and it has higher appli- cation value for its fault tolerance and environmental adaptability.