基于联邦卡尔曼滤波器的容错组合导航系统设计  

Design of fault-tolerant integrated navigation system based on federated Kalman filter

作　　者：崔展博 景博[1] 焦晓璇 姚文颖 周彦凯 Cui Zhanbo;Jing Bo;Jiao Xiaoxuan;Yao wenying;Zhou Yankai(College of Aeronautics Engineering,Air Force Engineering University,Xi’an 710038,China;Shijiazhuang HaiShan Industrial Development Corporation,Technical Center,Shijiazhuang 050208,China)

机构地区：[1]空军工程大学航空工程学院,西安710038 [2]石家庄海山实业发展总公司技术中心,石家庄050208

出　　处：《电子测量与仪器学报》2021年第11期143-153,共11页Journal of Electronic Measurement and Instrumentation

基　　金：“十三五”装备预研共用技术和领域基金(41402010102);陕西省自然科学基础研究计划(2017JQ6034);军委科技委创新特区项目(JKJW2020701)资助。

摘　　要：针对SINS/GPS/DVS全源组合导航系统在非理想状态下的容错性差,无法实现多源组合导航系统最优化的问题,建立基于卡尔曼滤波器的导航子系统局部滤波器和基于联邦滤波器的全源导航系统全局滤波器,设计了一种全源容错组合导航系统。通过仿真验证,该全源导航系统能够在子系统出现故障的情况下实现高精度导航,满足临界空间飞行器对导航系统精度和可靠性的要求。In view of the poor fault tolerance of the SINS/GPS/DVS full-source integrated navigation system under non-ideal conditions,and the inability to optimize the multi-source integrated navigation system,a Kalman filter-based local filter for the navigation subsystem and a federation are established.The global filter of the all-source navigation system of the filter has designed an all-source fault-tolerant integrated navigation system.The simulation verification shows that the all-source navigation system can achieve high-precision navigation in the case of subsystem failures,and meet the requirements of critical space aircraft for the accuracy and reliability of the navigation system.

关 键 词：全源导航 卡尔曼滤波 联邦滤波 容错系统 组合导航 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]