一种GNSS/INS紧组合状态域多故障渐消方法  

A state-domain multi-fault gradual exclusion method for GNSS/INS tightly coupled navigation system

作　　者：骆元鹏 程正逢 易祎 王海 LUO Yuanpeng;CHENG Zhengfeng;YI Yi;WANG Hai(Zhongnan Electric Power Design Institute Co.,Ltd.,China Power Engineering Consulting Group,Wuhan 430071,China)

机构地区：[1]中国电力工程顾问集团中南电力设计院有限公司,武汉430071

出　　处：《导航定位学报》2024年第4期123-131,共9页Journal of Navigation and Positioning

基　　金：中国能源建设股份有限公司科技支持项目(CEEC2022-ZDYF-01)。

摘　　要：复杂环境下全球卫星导航系统(GNSS)/惯性导航系统(INS)紧组合的导航定位性能会被GNSS中存在的故障严重影响,为克服残差卡方检验法中大阈值导致的故障检测性能差的问题及处理多个故障时多假设解分离法的计算复杂性,提出了一种基于位置、速度与姿态检测的GNSS/INS紧组合多故障渐消方法,从状态域的角度直接评估导航系统的状态,估计误差并逐一排除故障。通过GNSS/INS紧组合仿真数据和实测数据实验,将所提方法与现有方法进行对比验证。结果表明:提出的方法故障检测阈值相对较小,计算量稳定,能够检测并排除紧组合系统中存在的单个或多个故障,从而提升导航定位精度。The navigation and positioning performance of global navigation satellite system(GNSS)/inertial navigation system(INS)tightly coupled navigation systems could be seriously affected by the faults in GNSS in complex environments.To overcome the problem of poor fault detection performance caused by large thresholds in the residual chi-square test method(RCTM)and the computational complexity of multiple hypothesis solution separation method(MHSS)in dealing with multiple faults.This paper proposed a multi-fault gradual exclusion method based on position,velocity and attitude detection for GNSS/INS tightly coupled navigation system.The proposed method could directly evaluate the state estimation error of the navigation system and eliminate faults one by one.The proposed method was compared and validated with existing methods through the tightly coupled experiment using simulation data and real data.The experimental and theoretical results showed that the proposed method could exclude single or multiple faults in tightly coupled navigation systems and improve navigation and positioning accuracy with a smaller detection threshold and stable computation.

关 键 词：紧组合 状态域 卡方检验 多故障 故障检测与排除 

分 类 号：P228[天文地球—大地测量学与测量工程]