SINS/GNSS/OD组合导航系统的容错机制研究  

Research on fault tolerance mechanism of SINS/GNSS/OD integrated navigation system

作　　者：周芸 周凌柯[1] 李胜[1] 吴永豪 Zhou Yun;Zhou Lingke;Li Sheng;Wu Yonghao(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学自动化学院,南京210094

出　　处：《电子测量与仪器学报》2024年第11期25-32,共8页Journal of Electronic Measurement and Instrumentation

基　　金：高新工程重大专项(5140501B0203)项目资助。

摘　　要：为提高组合导航系统的可靠性,提出了改进故障检测和信息融合方法的组合导航系统容错机制。设计了改进的序贯概率比检验法,引入了渐消因子提高对当前时刻残差信息的跟踪速度,结合马氏距离来判断故障的结束时间,并依据判断结果在恰当的时机完全重置判断信息;设计了一种基于联邦滤波的自适应归一化融合算法,构建故障检测统计量的归一化检测值,将此值作为量测噪声方差阵的权重系数,对相应的子滤波器进行加权量测更新,以此改变全局融合过程中的权重分配。车载实验的结果表明,改进的完全重置序贯概率比检验算法相较于传统的残差卡方检验法、渐消序贯概率比法和快速重置序贯概率比法,在软故障检测上的正检率分别提高了96.43%、25.00%和19.57%,采用的自适应归一化融合算法相比于传统的联邦滤波法也提高了44.70%和35.60%的定位精度。因此,所改进的两种方法可以在很大程度上提升组合导航系统的容错性能,具有较高的实用价值。To improve the reliability of the integrated navigation system,an improved fault detection and information fusion method is proposed for the fault-tolerant mechanism of the integrated navigation system.Designed an improved sequential probability ratio test method,introduced a fading factor to improve the tracking speed of residual information at the current time,combined with Mahalanobis distance to determine the end time of the fault,and fully reset the judgment information at the appropriate time based on the judgment result;A self-adaptive normalization fusion algorithm based on federated filtering was designed to construct normalized detection values of fault detection statistics,which were used as weight coefficients for the measurement noise variance matrix.The corresponding sub filters were weighted and updated to change the weight allocation in the global fusion process.The results of the in vehicle experiment show that the improved fully reset sequential probability ratio test algorithm has improved the positive detection rate of soft fault detection by 96.43%,25.00%,and 19.57%respectively compared to the traditional residual chi square test,fading sequential probability ratio,and fast reset sequential probability ratio methods.The adaptive normalization fusion algorithm used also improved the positioning accuracy by 44.70%and 35.60%compared to the traditional federated filtering method.Therefore,the two improved methods can greatly enhance the fault tolerance performance of the integrated navigation system and have high practical value.

关 键 词：组合导航 故障检测 信息融合 容错 卡尔曼滤波 联邦滤波 

分 类 号：TN965[电子电信—信号与信息处理] U666.1[电子电信—信息与通信工程]