Integrated navigation method based on fault-tolerant Kalman filtering
A Kalman filter and Kalman filter technology, applied in the field of integrated navigation, can solve problems such as fault tolerance performance to be improved, weak anti-interference ability, etc., and achieve the effect of improving the utilization degree and improving the robust performance.
Active Publication Date: 2019-02-22
HARBIN ENG UNIV
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Abstract
The invention discloses an integrated navigation method based on fault-tolerant Kalman filtering and belongs to the technical field of integrated navigation. The method comprises the following steps:selecting an integrated navigation state quantity to write a state equation, selecting a measuring quantity to write a measuring equation and carrying out discretization; constructing a conventional Kalman filterer for state estimation; constructing a fault detection function for detecting faults; constructing a fault-tolerant Kalman filer to estimate the state; feeding data of sub filters to a primary filter for information fusion to obtain global state estimation; and correcting a navigation parameter output by an inertial navigation system by means of an estimated value of global error of federated kalman. By adding a fault detection link and a fault-tolerant Kalman filter for an SINS/GPS sub system isolated as a result of faults, once the faults happen, fault points are returned to carry out fault-tolerant Kalman filtering again. Therefore, the utilization degree of sub system data is improved, so that the robust performance of the whole system is improved.
Application Domain
Navigation by speed/acceleration measurementsSatellite radio beaconing
Technology Topic
Inertial navigation systemKalman filter +8
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