宽容故障的SINS/多普勒雷达/距离计集成导航方法基于双阶段故障检测结构
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
概括
这项研究引入了一个使用联合卡尔曼波器的容错导航系统,以提高带式惯性导航系统 (SINS),多普勒雷达和计时器的可靠性. 该方法有效地检测和隔离突然和坡道故障,提高整体系统性能.
科学领域:
- 导航系统工程 导航系统工程
- 控制系统理论 控制系统理论
- 信号处理 信号处理
背景情况:
- 与多普勒雷达和计时器集成的Strapdown惯性导航系统 (SINS) 对于准确的定位至关重要.
- 确保这些集成系统对传感器故障的可靠性是一个重大挑战.
研究的目的:
- 开发一个耐故障的集成导航系统,用于紧固式惯性导航系统 (SINS) /多普勒雷达/距离计.
- 提高综合导航系统的可靠性和故障检测能力.
主要方法:
- 设计了一种具有两阶段故障检测结构的联合卡尔曼波器.
- 使用剩余基平方测试检测到突如其来的故障;使用忘记因子改进的顺序概率比测试 (SPRT) 检测到坡道故障.
主要成果:
- 拟议的方法有效地检测和隔离了集成导航系统中的突然和坡道故障.
- 改进的SPRT显示了对故障结束时间的增强灵敏度,减少了历史故障的影响.
结论:
- 开发的耐故障方法显著提高了SINS/多普勒雷达/航程计集成导航系统的可靠性.
- 该系统可以快速恢复故障后的正常运行,确保连续和准确的导航.
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