基于强跟踪滤波的多模卫星容错导航算法  

A Fault-tolerant Navigation Algorithm of Multiple Satellite Based on Strong Tracking Filter

作　　者：赵欣[1] 王仕成[1] 刘志国[1] 罗大成[1] 

机构地区：[1]西安第二炮兵工程学院301教研室,西安710025

出　　处：《现代雷达》2009年第9期47-51,共5页Modern Radar

基　　金：国家863计划课题资助项目(2007AA705411);国家自然科学基金资助项目(60572061)

摘　　要：针对多模卫星系统可能存在故障卫星,而故障卫星的种类和数量往往无法灵活确定,导致系统定位失效的问题,提出了一种基于强跟踪滤波的多模卫星容错组合导航算法。设计了一种基于单元级融合方式的容错系统结构,即为每颗卫星分别设计基于强跟踪滤波技术的子滤波器和故障检测与隔离器,并提出了一种改进的残差故障检测方法,全局算法采用联邦滤波算法,最终完成了一种北斗/GPS/GLONASS容错组合导航算法的设计。实验结果表明,该算法能充分利用多个卫星系统的卫星进行定位,同时能够同步检测和隔离多个不同卫星系统的故障卫星,有效提高了系统的定位精度和可靠性。To solve the problem of invalid position determining due to uncertainty of category and quantity of malfunctioned satellites in the multiple satellite system, a fault-tolerant integrated navigation algorithm of multiple satellite based on strong tracking filter is proposed. First, a fault-tolerant system structure based on cell level fusion mode is proposed. The local filter and the fault detection and isolation based on strong tracking filter are designed for single satellite, and an improved residual fault detection method is presented. Federated filter is used in general algorithm. Finally, a fault-tolerant integrated navigation algorithm of BD/GPS/GLONASS system is designed. The results show that the proposed algorithm using multi-satellite system for position defermining is effective and the malfunctioned satellites of different satellite systems are detected and isolated synchronously. The system precision and reliability are improved effectively.

关 键 词：组合导航 多模卫星 故障检测与隔离 强跟踪滤波 联邦滤波 

分 类 号：TN967.1[电子电信—信号与信息处理]