Multiple-fault detecting device and detecting method for tightly-integrated inertial satellite navigation system

Abstract

The invention discloses a multiple-fault detecting device and detecting method for a tightly-integrated inertial satellite navigation system, and belongs to the technical field of satellite positioning and navigation. The multiple-fault detecting device comprises an observed quantity measurement unit, an inertial navigation aided unit, a satellite fault evaluation unit, a measurement information filtering unit and a Kalman filter, which can detect and identify the faults (of multiple satellites) occurring simultaneously. The fault detecting method transfers the inertial navigation information to an observed quantity matrix; according to a corrected detection and observation equation of the observed quantity matrix and the quality evaluation for the satellite observed quantity, the satellite fault evaluation unit reconstructs the observation system and the observation equation, and therefore the precision of the tightly-integrated navigation system under fault condition is improved.

Description

technical field [0001] The invention relates to a multi-fault detection device and a detection method of an inertial satellite tight combination navigation system, and belongs to the technical field of satellite positioning and navigation. Background technique [0002] Inertial satellite tight integrated navigation system is a navigation system that combines inertial navigation and satellite navigation, and uses the pseudo-range and pseudo-range rate of the original satellite observation information as the observation quantity. Compared with the loose combination, the tight combination system has better accuracy and dynamic performance, and can work normally in a shorter period of time when there are less than 4 visible satellites. [0003] However, due to the deep combination of the tight combination system, its accuracy and reliability are greatly affected by the pseudorange and pseudorange rate quality of the original satellite observation information. Pseudo-range and p...

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Problems solved by technology

[0006] (3) Human interference, especially hostile interference, will bring large errors

The above algorithm can realize the detection of system faults under a certain false alarm rate and false alarm rate, but it cannot perform fault identification or can only identify single-satellite faults

With the increase in the number of navigation satellites in orbit, single-satellite fault identification can no longer meet navigation requirements, especially in key applications involving life safety

[0009] Multi-fault identification algorithms include n-2 method, OWAS method, hypothesis testing method, optimal parity vector method, etc. to obtain the observation quantum set test, but the implementation of the above algorithm requires more than 6 visible satellites; and the above algorithms all assume All observations always have the same noise statistical characteristics, but in fact, after a fault occurs, the non-fault observation information will also be polluted, resulting in an increase in the noise level

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