多余度导航系统容错重构管理算法研究

发布时间：2017-12-27 11:06

本文关键词：多余度导航系统容错重构管理算法研究　出处：《电子科技大学》2016年硕士论文　论文类型：学位论文

【摘要】：导航系统是无人飞行器最为关键的系统之一,其精度和可靠性关系到控制指令的执行和飞行的安全,因此一般高可靠性要求的无人机都配置多余度导航系统。而在多余度导航系统中,同一导航信号存在着多个信号来源,为了确保导航信号的唯一性和高可靠性,必须对各余度信号进行容错重构管理,以提高导航信息的可靠性和准确性,故多余度导航系统的容错重构管理算法是无人机的关键技术之一。本文针对无人机多余度导航系统的构建、导航系统的容错重构管理算法以及系统容错重构方案等方面的工作主要包括以下几个方面:(1)阐述了以SINS/GNSS/ADS(捷联惯性导航系统/全球定位系统/大气数据系统)为核心的组合导航系统及其相关理论,对各个导航子系统进行了系统的分析,针对SINS惯性导航系统、GNSS卫星导航系统进行了建模仿真,并在各子系统的基础上,对SINS/GNSS/ADS组合导航子系统进行了建模仿真。(2)针对硬件余度成本高的问题,提出导航系统的解析余度。从飞行器运动学方程入手,利用解析余度技术,构造导航传感器信号进行导航解算,构建和真实导航设备平行的解析余度。解析信号和硬件设备信号一起参与容错重构管理,不仅为故障检测提供了参照依据,还可以间接延长系统工作时间。(3)研究了导航系统中常用的容错重构算法。从故障检测和多余度信号表决两个方向对容错重构算法进行分析;并在前人研究的基础上,基于奇偶检测法和导航信号的统计特性,提出一种改进的容错重构算法。利用多余度导航信号间差值的统计信息,结合自检测和互检测实现信号的故障检测,进而隔离故障信号,并采用基于统计信息的加权平均表决法完成表决值信号的优选和重构。(4)结合硬件余度和解析余度,对多余度导航系统的结构进行了部署;并利用改进的容错重构算法进行多余度导航信号的管理。最后,对多余度导航系统进行了建模仿真。最终的仿真结果证明了本文的多余度导航系统具有很好的容错重构能力。其中的容错重构管理算法能够很好的检测出三余度系统的一次故障和二次故障,改进的多余度表决方法也能够极大地使重构信号逼近真值,提高了整个系统的安全性和可靠性。
[Abstract]:Navigation system is one of the most critical systems of UAV. Its accuracy and reliability are related to the execution of control instructions and the safety of flight. Therefore, UAVs with high reliability requirements are equipped with redundant navigation system. In the redundant navigation system, a navigation signal has a plurality of signal sources, in order to ensure the uniqueness and reliability of navigation signal, must carry on the management of the fault-tolerant reconfigurable redundant signal, in order to improve the reliability and accuracy of navigation information, so the redundant fault-tolerant reconfigurable management algorithm is one of the key navigation system the technology of uav. This work for the establishment of non redundant navigation system, man-machine navigation system fault tolerant reconfiguration management algorithm and system fault tolerance reconfiguration scheme mainly includes the following aspects: (1) the SINS/GNSS/ADS (strapdown inertial navigation system / GPS / air data system) integrated navigation system as the core and relevant theories the navigation system is analyzed, based on SINS inertial navigation system, GNSS satellite navigation system modeling and simulation, and on the basis of each subsystem, the SINS/GNSS/ADS integrated navigation system for modeling and simulation. (2) to solve the problem of high cost of hardware redundancy, the analytical redundancy of the navigation system is proposed. Starting from the kinematics equation of aircraft, we use the analytical redundancy technology to construct the navigation sensor signal to solve the navigation problem, and build the analytical redundancy which is parallel to the real navigation device. The analytic signal and the hardware device signal are involved in the fault tolerance reconstruction management, which not only provides reference for fault detection, but also can prolong the working time of the system indirectly. (3) a fault tolerant reconstruction algorithm used in the navigation system is studied. From the two directions of fault detection and redundant signal voting, we analyze the fault-tolerant reconstruction algorithm. Based on previous studies, we propose an improved fault tolerant reconstruction algorithm based on parity detection and statistical characteristics of navigation signals. By using the statistical information of the difference between the navigation signals and the self detection and mutual detection, the signal fault detection is realized, and then the fault signal is isolated. The weighted average voting method based on statistical information is used to complete the optimization and reconstruction of the voting value signal. (4) combining redundant redundancy and analytic redundancy, we deploy the redundant navigation system structure, and use the improved fault-tolerant reconstruction algorithm to manage redundant navigation signals. Finally, the modeling and Simulation of the redundant navigation system are carried out. The final simulation results show that the redundant navigation system in this paper has good fault tolerance reconfiguration. Fault tolerant reconfigurable management algorithms can detect the fault of a triple redundant system and the two good fault, redundant voting method can greatly improved the signal reconstruction approach to the true value, improve the safety and reliability of the whole system.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V249.3;V279

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