采用双状态传播卡方检验和模糊自适应滤波的容错组合导航算法

发布时间：2018-01-20 18:39

本文关键词： 组合导航联邦卡尔曼滤波故障检测故障诊断双状态传播卡方检验模糊自适应　出处：《控制理论与应用》2016年04期 　论文类型：期刊论文

【摘要】：太阳能高空长航时无人机导航系统中,捷联惯导/北斗2κ全球卫星导航/星光导航(SINS/BD2/GPS/CNS)是一种可用的组合方案.针对常规容错组合导航算法故障检测类型单一,故障时滤波精度下降的问题,提出一种采用双状态卡方检验(TSPCST)和模糊自适应滤波(FAF)的容错组合导航算法.为了同时检测多种故障,将TSPCST应用于联邦滤波结构中;为了防止故障数据污染系统,利用FAF输出的高精度导航信息,对双状态传播器定期交替校正;进一步,FAF运用TSPCST检测得到的故障信息变量,定义量测子系统模糊有效域,将检测阈值模糊化,以弥补常规固定检测阈值算法难以选取阈值的不足;最后,通过计算信息分配因子,自适应处理多种故障数据.仿真结果表明,该容错组合导航算法性能优于常规固定检测阈值算法.
[Abstract]:In the navigation system of unmanned aerial vehicles (UAVs) during solar high altitude and long voyage. Strapdown Inertial Navigation / Beidou 2 魏 Global Satellite Navigation / Starlight Navigation system (sins / BD2 / GPS / CNS) is an available integrated scheme. The fault detection type of conventional fault-tolerant integrated navigation algorithm is single. In order to detect multiple faults simultaneously, a fault tolerant integrated navigation algorithm based on double state chi-square test (TSPCST) and fuzzy adaptive filter (Faf) is proposed. The TSPCST is applied to the federated filter structure. In order to prevent the fault data from contaminating the system, the dual-state propagator is adjusted alternately periodically by using the high-precision navigation information output by FAF. Further, FAF uses the fault information variables detected by TSPCST to define the fuzzy effective domain of the measurement subsystem and to fuzzy the detection threshold. In order to make up for the conventional fixed detection threshold algorithm is difficult to select the threshold; Finally, by calculating the information allocation factor, the fault data are adaptively processed. The simulation results show that the performance of the fault-tolerant integrated navigation algorithm is better than that of the conventional fixed detection threshold algorithm.
【作者单位】：南京理工大学自动化学院;
【基金】：国家自然科学基金项目(61074023)资助~~
【分类号】：V249.328
【正文快照】： 1引言(Introduction) 新型太阳能高空长航时无人机未来需要在高空自主飞行数月,导航系统具有长期运行可靠性才能满足要求.目前,SINS/GPS作为主流导航系统,被广泛应用于各型无人机中[1].考虑到全球导航卫星系统(glo- bal navigation satellite system, GNSS)易受干扰,可靠

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