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

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...

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 imbalance existing in fault detection and diagnosis The problem is that it cannot handle nonlinear data well, which makes the recognition rate low and the error is large.

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