基于小波分析的容错组合导航系统故障检测算法研究

针对目前多数故障检测法对缓变的软故障检测不灵敏，延迟性较大，无法判断各种故障类别等问题，在分析利用小波奇异性进行故障检测原理的基础上，提出了一种基于模极大值原理的导航传感器故障检测方法。该算法利用传感器的观测量来诊断传感器是否正常工作，文中给出了利用小波奇异性进行故障检测的原理描述及利用该算法进行故障检测算法流程。该算法不仅对导航传感器软故障具有较高的检测灵敏度，而且可以通过故障点处信号的Lipschitz指数来判断故障类别，为传感器故障隔离和修复提供有效的信息，因此可以更好的保障多传感器容错组合导航系统的可靠性。计算机仿真表明所提方法是有效的，具有较高的实用性。

Research of Fault Detection Algorithm Based on Wavelet Analysis in Integrated Navigation System

Considering the current detection methods are insensitive with soft fault and have large delay problem,by analyzing the basic principle of wavelet singularity being used in fault detection,a algorithm based on modulus maximum principle is proposed in this paper for fault detection of navigation sensors,in this algorithm,only the observation signals of sensors are used to detect fault.The theory of wavelet singularity fault detection and algorithm process are presented in the paper.The algorithm can be used to effectively detect soft faults of the navigation sensors which is difficult to detect and determine the type of faults through the Lipschitz exponent.It can keep the reliability of fault-tolerant integrated navigation system.Simulation results show that the proposed method is effective and practicable.