Integrated navigation fault tolerance method based on adaptive federal strong tracking filtering

Abstract

The invention discloses an integrated navigation fault tolerance method based on adaptive federal strong tracking filtering, comprising the following steps: establishing an integrated navigation system state model; constructing a fault detection function for detection; constructing an adaptive strong tracking filtering algorithm for state estimation; sending output data of a fault-free subfilter to a main filter for adaptive information fusion to obtain a global state estimation value; feeding the global state estimation value back to a fault-free subsystem, and resetting, for a subsystem withfault, subsystem information; and correcting, based on the obtained global state estimation value, navigation parameters output by an inertial navigation system. The method can not only improve the filtering accuracy of the system, but also improve the tracking ability of the filter when the system state changes suddenly, can detect and isolate the faulty system, improve the accuracy and reliability of the fusion result, and thus enhance the robustness of the integrated navigation system. The method is simple and easy to implement.

Description

technical field [0001] The invention belongs to the technical field of integrated navigation, in particular to an integrated navigation fault-tolerant method based on self-adaptive federal strong tracking filter. Background technique [0002] With the advancement of science and technology and the development of the times, the demand for high-precision and high-reliability navigation and positioning is constantly increasing, whether it is in the military or civilian fields. The Global Navigation Satellite System (GNSS) is the main means of outdoor high-precision positioning. It has the characteristics of high long-term measurement accuracy and all-weather work. However, in complex areas such as forests and urban canyons, satellite signals are easily blocked and interfered, resulting in GNSS The positioning device cannot output navigation parameters normally. Strapdown Inertial Navigation System (SINS) is an autonomous navigation system that can provide accurate relative posi...

AI Technical Summary

Problems solved by technology

In the fusion process, the main filter of FKF needs to calculate a large number of inverse matrices of the covariance matrix of local and global state estimates, and the calculation complexity is high; especially when the dimension of the selected integrated navigation system state is high, the calculation amount increased sharply

Moreover, when there is a large error in the observation of a certain subsystem or the filtering fails, the fusion result of the main filter will also have a large error, which will affect the filtering accuracy of the system.

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