INS/GPS integrated navigation fault detection and diagnosis method based on integrated neural network

A technology of integrated navigation and neural network, applied in the field of INS/GPS integrated navigation fault detection and diagnosis based on integrated neural network, can solve problems such as data imbalance, low recognition rate, large error, etc. balanced effect

Active Publication Date: 2020-09-08
XIAN TECHNOLOGICAL UNIV
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a fault detection and diagnosis method for INS/GPS integrated navigation based on an integrated neural network to overcome the data

Method used

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  • INS/GPS integrated navigation fault detection and diagnosis method based on integrated neural network
  • INS/GPS integrated navigation fault detection and diagnosis method based on integrated neural network
  • INS/GPS integrated navigation fault detection and diagnosis method based on integrated neural network

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Embodiment

[0038] like figure 1 As shown, a kind of INS / GPS integrated navigation fault detection and diagnosis method based on integrated neural network is realized through the following specific steps:

[0039] s1: Use simulation to generate and read fault data obtained under nodes with different fault factors. Specifically, using the method of controlling variables, the fault information of sudden faults, slow-changing faults and GPS faults is added to different nodes in the integrated navigation algorithm simulation, and fault data of different fault types are obtained for data set acquisition.

[0040] s2: By classifying the fault data sets obtained after algorithm simulation in proportion, they are divided into training set, verification set and test set, which are used for better model training, observation of model performance and verification of model effect.

[0041] Specific steps are as follows:

[0042] (1): Classify the acquired data set and divide it into training set, v...

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Abstract

The invention discloses an INS/GPS integrated navigation fault detection and diagnosis method based on an integrated neural network. The method provided by the invention comprises the following steps:firstly, obtaining INS and GPS fault data of integrated navigation through simulation; then, performing data processing by means of kernel Fisher discriminant analysis (KFDA), and achieving balance of mode data; then, carrying out One-Class SVM model training on the data, and detecting a fault condition of the nonlinear data by applying a nuclear skill; and finally, fusing the fault diagnosis results of the BP neural network and the improved dynamic particle swarm optimization (PSO) BP neural network by using a D-S evidence theory to realize fault detection and diagnosis of INS/GPS integratednavigation. According to the method, sudden change faults and slow change faults of the small sample integrated navigation system can be effectively detected, the fault detection rate reaches 90% orabove, the error rate of fault detection is effectively reduced, and an accurate comprehensive decision result is obtained.

Description

technical field [0001] The invention belongs to the field of navigation system fault diagnosis, and more specifically relates to an INS / GPS combined navigation fault detection and diagnosis method based on an integrated neural network. Background technique [0002] Nowadays, in the military field, the integrated navigation system is an indispensable equipment for ships, aircrafts and other carriers. It shoulders the important responsibility of navigation, positioning and attitude control for the carrier. Especially in combat, it is also responsible for transmitting attitude data for the combat system. Its reliability is seriously related to the safety of the carrier and its occupants' life and property, and due to the randomness, ambiguity and uncertainty of the failure, the formation of a failure is often the result of many factors, and the relationship between the factors The working environment of the contact and navigation system is very complicated, so how to improve th...

Claims

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Application Information

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IPC IPC(8): G06K9/62G06N3/08G01C25/00
CPCG06N3/084G01C25/00G01C25/005G06F18/21322G06F18/2411
Inventor 董绵绵贺咪咪王鹏邸若海吴娇洪贤丽李晓艳吕志刚
Owner XIAN TECHNOLOGICAL UNIV
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