一种联邦卡尔曼滤波渐变型故障容错方法

 具有良好的容错性是组合导航系统的基本要求。组合导航系统易于完成突变型故障的检测与容错,对渐变型故障的检测与容错则较为困难。文中以联邦卡尔曼滤波为组合导航系统状态估计方法,针对渐变型故障,提出了观测品质的概念及其模糊评估方法,应用观测品质进行了导航系统的渐变型故障检测,利用观测品质构成局部滤波器估计均方误差阵的修正矩阵,设计了组合导航系统智能自适应渐变型故障容错方法并完成了仿真运算。

Fault-tolerance Designing of Federal Kalman Filter for Gradual Changing Fault

It is fundamental for integrated navigation system to possess fine fault tolerance.It is relatively easy for integrated navigation system to accomplish the abrupt changing fault detection and fault tolerating,as for gradual changing fault it is rather difficult.The federal Kalman Filter is applied in this essay for the state estimation of integrated navigation system,and the concept of observation quality as well as its fuzzy evaluation is presented to deal with the gradual changing fault.The observation quality is applied to detect the gradual changing fault of navigation system,and the observation quality is used to destruct the modified matrix of mean square error matrix of local filter estimation,the intelligent adaptive fault tolerance for gradual changing fault is designed for integrated navigation system.Finally,the simulation is accomplished.