Gradual fault backtracking fault-tolerant method for inertial and satellite integrated navigation system

Abstract

The invention provides a gradual fault backtracking fault-tolerant method for an inertial and satellite integrated navigation system, and the method comprises the following steps of performing initialalignment of the inertial navigation system; collecting and sliding the stored sensor data; performing gradual fault detection and identification on the satellite navigation position information by using a state chi-square and residual chi-square hybrid detection method, cutting into an inertia / satellite integrated navigation mode when the satellite navigation has no fault, and fusing the satellite navigation output information; performing the inertial navigation backtracking algorithm and the Kalman backtracking algorithm when the satellite navigation has a gradual fault to obtain the attitude matrix, speed and position of the integrated satellite gradual fault information at the k-1 time; backtracking to the satellite navigation fault point, performing pure inertial navigation trackingand recalculation, recursively stepping to the kth sampling time, and outputting the attitude, velocity and position information after isolating the satellite historical fault information. The methodprovided by the invention can effectively judge satellite navigation gradual faults, and perform the fault tolerance processing on the fault by the inertial navigation and the Kalman backtracking algorithm to avoid historical fault information pollution.

Description

technical field [0001] The invention relates to a fault tolerance method for an inertial integrated navigation system, in particular to a gradual fault tolerance method for an inertial / satellite integrated navigation system. Background technique [0002] Since the inertial integrated navigation system fuses a variety of sensor information, the accuracy of the sensor information determines the system accuracy. The main task of the fault tolerance technology is to quickly isolate the faulty device when the external reference information fails. However, due to the gradual fault, the system will be polluted by the historical fault information in a short time. In the event of faults, use the stored gyroscope and accelerometer information to perform inertial navigation backtracking and Kalman backtracking algorithms, and perform pure inertial navigation fast retrospective processing after eliminating historical fault information, effectively analyzing the historical gradual fault ...

AI Technical Summary

Problems solved by technology

From the author's simulation results, it can be seen that the integrated navigation system in fault-tolerant processing can effectively detect the gradual fault of satellite navigation information due to the introduction of fault information after 100-110 seconds of satellite navigation information simulation failure, but after detecting After the fault, no further fault-tolerant processing was performed on the previously fused historical gradual fault information, and the system was still polluted by fault information for a certain period of time, and the steady-state impact of the historical gradual fault on the subsequent system could not be eliminated.

[0005]The above published articles have described and explored the gradual fault tolerance of the integrated navigation system, but they have not achieved the detection of the gradual fault at the same time. Therefore, it is innovative and practical to study a reliable and fast method of eliminating historical faults and recalculating navigation information within the fault period.

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