Fault-Tolerant SINS/Doppler Radar/Odometer Integrated Navigation Method Based on Two-Stage Fault Detection Structure
Bo Yang1, Feng Liu1, Liang Xue1
1Department of Control Engineering, Xi'an Research Institute of High Technology, Xi'an 710025, China.
Entropy (Basel, Switzerland)
|October 28, 2023
Summary
This study introduces a fault-tolerant navigation system using a federated Kalman filter to enhance the reliability of strapdown inertial navigation systems (SINS), Doppler radar, and odometers. The method effectively detects and isolates abrupt and ramp faults, improving overall system performance.
Area of Science:
- Navigation Systems Engineering
- Control Systems Theory
- Signal Processing
Background:
- Strapdown inertial navigation systems (SINS) integrated with Doppler radar and odometers are crucial for accurate positioning.
- Ensuring the reliability of these integrated systems against sensor faults is a significant challenge.
Purpose of the Study:
- To develop a fault-tolerant integrated navigation system for strapdown inertial navigation system (SINS)/Doppler radar/odometer.
- To enhance the reliability and fault detection capabilities of the integrated navigation system.
Main Methods:
- A federated Kalman filter with a two-stage fault detection structure was designed.
- Abrupt faults were detected using the residual chi-square test; ramp faults were detected using an improved sequential probability ratio test (SPRT) with forgetting factors.
Main Results:
- The proposed method effectively detected and isolated both abrupt and ramp faults in the integrated navigation system.
- The improved SPRT demonstrated enhanced sensitivity to fault end times, reducing historical fault influence.
Conclusions:
- The developed fault-tolerant method significantly improves the reliability of SINS/Doppler radar/odometer integrated navigation systems.
- The system can quickly restore normal operation post-fault, ensuring continuous and accurate navigation.
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