JIDS/SINS/GPS组合导航系统两级故障检测结构设计

针对传统组合导航系统故障检测方法不能同时准确检测突变故障及缓变故障的不足,提出了一种两级故障检测结构。这种结构采用联邦滤波器结合了残差χ2检测法易于检测突变故障和状态χ2检测法易于检测缓变故障的优势,在JIDS/SINS/GPS组合导航系统中得到了成功应用。仿真表明,这种方法对突变故障和缓变故障都达到了较好的检测效果。此外,此方法没有改变联邦滤波器原有结构,检测准确度高,计算量小,是一种便于工程实现的检测方法。

A Two-Stage Fault Detection Structure for JIDS/SINS/GPS Integrated Navigation System

According to the disadvantages of the traditional fault detection methods of integrated navigation system which can not detect abrupt and gradual faults simultaneously and precisely,a two-stage fault detection structure is presented in this paper.By using the structure of the federated filter,this method combined the advantages of both residual chi-square test for sub filter and state chi-square test for master filter.This method is applied successfully to JIDS/SINS/GPS integrated navigation system.The simulation results show that this method has got the better performance of both abrupt and gradual faults detection.In addition,without changing the original structure of federated filter,this method can get precise detection results with low computational cost and can be implemented easily.