一种双捷联微小型惯性组合导航系统设计研究  

A Miniature Dual SINS/GPS/Doppler Integrated Navigation System

作　　者：刘瑞华[1] 

机构地区：[1]中国民航学院,天津300300

出　　处：《中国空间科学技术》2005年第3期1-7,13,共8页Chinese Space Science and Technology

基　　金：国家自然科学基金资助项目(60472125)

摘　　要：介绍了一种使组合导航系统具有系统级冗余的基于MEMSIMU的双SINS/GPS/Doppler组合导航系统,讨论了系统的体系结构及分层联合卡尔曼滤波器的设计和计算方法,给出了基于滤波器测量残差检验的硬故障FDIR算法和基于状态估计的软故障FDIR算法。计算机仿真结果表明,该系统具有结构灵活、计算方便、可靠性高的优点。A MEMS-IMUs based dual SINS/GPS/Doppler integrated navigation system is designed, and this will make the integrated system to have a systemic redundancy. The construction of the integrated system, the designing and calculation of the hierarchic alliance Kalman filter are discussed in this paper. Then the hard failure FDIR algorithm based on the filter measurements residuals and the soft failure FDIR algorithm based on simulation shows that this system is better as flexible the state esimations are given. The result of structure.

关 键 词：组合式导航 卡尔曼滤波 故障检测 系统仿真 组合导航系统 设计研究 微小型 SINS/GPS MEMS-IMU 卡尔曼滤波器 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TN967.2[自动化与计算机技术—控制科学与工程]