Fault-tolerant combined method of strapdown inertial integrated navigation system for underwater vehicles

Abstract

The invention provides a fault-tolerant combined method of a strapdown inertia integrated navigation system for underwater vehicles. The method is composed of a strapdown inertial navigation system SINS, a terrain aided navigation system TAN, a Doppler velocity log DVL and a magnetic compass pilot MCP, and realizing an integrated navigation process through a decentralized filter structure and an intelligent fault-tolerance method. The method comprises the following steps of constructing sub-filters respectively with the SINS as a reference navigation system and the TAN, the SINS and the DVL, and the SINS and the MCP, extracting related characteristic quantities from the sub-filters to transmit them into fault diagnosis modules composed of a supporting vector machine, determining if faultsexist in the TAN, the DVL or the MCP, if the faults exist, information of the TAN, the DVL or the MCP with the faults is screened, then carrying out a system reconfiguration process, and then feedingback errors outputted from a main filter to the SINS for correction. The method can guarantee a good reliability and a high fault tolerance of a strapdown inertial integrated navigation system for underwater vehicles, especially make a support vector machine trained in small samples have a strong popularization capability, and provide a novel method for a fault diagnosis.

Description

Technical field [0001] The invention relates to a fault-tolerant combination method of a strapdown inertial integrated navigation system for an underwater vehicle, and is particularly suitable for fault diagnosis and system reconstruction of an underwater vehicle integrated navigation system. Background technique [0002] Fault-tolerant control was developed with the development of fault diagnosis technology based on analytical redundancy. It can be traced back to 1971, marked by the new concept of integrity control proposed by Niederlinski. The development of navigation technology has made the system increasingly complex and large-scale, and has also put forward higher requirements for the reliability of the navigation system. In addition to the use of reliable hardware, the improvement of reliability enables the system to have fault detection, separation and reconstruction functions. And fault-tolerant design is also an important way to improve reliability. [0003] The underwat...

AI Technical Summary

Problems solved by technology

The birth of the support vector machine algorithm has opened up a new way to solve these problems, but it is rarely used in the field of fault diagnosis of integrated navigation systems in the materials that can be found at home and abroad.

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