Robust fault detection method of inertial navigation-satellite integrated navigation system

Abstract

The invention provides a robust fault detection method of an inertial navigation-satellite integrated navigation system. The method comprises the following steps: carrying out optimization estimationon a constructed strapdown inertial navigation system / global navigation satellite system integrated navigation system by adopting a volume Kalman filter algorithm based on singular value decomposition; introducing error detection filtering based on a framework into a volume Kalman filter algorithm based on singular value decomposition, carrying out linearization processing on a constructed integrated navigation system, and calculating a judgment threshold of a sensor for fault detection during integrated navigation of the integrated navigation system in an error detection process; comparing the relation between the fault and the judgment threshold value, and if the fault is small, improving the state estimation precision of the volume fault detection filter through a self-adaptive algorithm based on a measurement residual error and a scale factor; and if the fault is large, adopting robust batch processing H-infinity filtering to guarantee the stability at the moment. According to theinvention, the robustness of fault detection can be well ensured.

Description

technical field [0001] The invention relates to the technical field of signal processing of shipborne navigation instruments, in particular to a robust fault detection method for an inertial navigation-satellite integrated navigation system. Background technique [0002] The inertial navigation system is an autonomous navigation system that does not rely on any external information and does not radiate energy to the outside. It has the characteristics of good concealment and can work in various complex environments such as air, ground, and underwater. The main points are There are two types of platform inertial navigation systems and strapdown inertial navigation systems. As the core navigation system of various ships and civil ships, the accuracy and reliability of the strapdown inertial navigation system directly affect the performance indicators of its equipment carrier. [0003] The existing ship strapdown inertial navigation system and the global navigation satellite s...

AI Technical Summary

Problems solved by technology

The statistical model is used to effectively identify and detect the measured values ​​in the measurement matrix reflecting the trajectory formed in the estimation process, so as to ensure that the abnormality of the measured values ​​is judged under the influence of linearization residuals in the measurement matrix formed during the effective trajectory estimation process. Excluded, the existing technology is difficult to guarantee the robustness of fault detection

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