A Fault-tolerant Navigation Method Based on Augmented Pseudo-Range Information Aid

Abstract

The invention discloses a fault-tolerant navigation method based on augmented pseudo-range information assistance, and belongs to the technical field of combined navigation. The navigation method includes: the establishment of the state equation of the navigation system, the establishment of the measurement equation of the navigation system, and the information fusion of the integrated navigation system based on Kalman filtering. The present invention uses the ephemeris data received by the satellite receiver, the pseudolite data received by the Roland C receiver, combined with the position and velocity given by the inertial navigation system, to perform Kalman filtering, and at the same time, the multi-solution separation algorithm under the Kalman filtering starts. work to detect satellite failure conditions. If a fault is found, the fault is isolated in time, and the Kalman filter is reset by using the isolated data, and the system enters the Kalman filtering and monitoring working state again. The invention applies the multi-solution separation algorithm to the Kalman filter, which increases the continuity, stability and robustness of the Kalman filter positioning.

Description

technical field [0001] The invention relates to a fault-tolerant navigation method based on augmented pseudorange information assistance, and belongs to the technical field of combined navigation. Background technique [0002] With the rapid development of science and technology, the application of navigation systems in many fields, especially in aviation, aerospace and other fields, continues to deepen, and integrated navigation technology has become an inevitable choice. The global satellite navigation system can carry out global, all-weather and real-time navigation, and has high positioning and speed measurement accuracy. Because global satellite navigation system and SINS (strapdown inertial navigation system) have strong complementarity, the use of satellite / SINS integrated navigation system can synthesize the advantages of the two, realize the complementary advantages, and make the system adapt to the complex and changeable environment. However, when the satellite si...

AI Technical Summary

Problems solved by technology

However, when the satellite signal is lost and cannot obtain enough navigation information or the satellite fails and cannot provide enough navigation information after troubleshooting, the satellite / SINS integrated navigation system can only work in the pure inertial navigation mode at this time, and the navigation accuracy is not high

At the same time, inaccurate system mathematical models and noise statistics, sudden noise changes, etc. will also lead to poor convergence of the Kalman filter, and even filter divergence, greatly affecting the navigation accuracy of the combined system

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