混合χ~2检测法在组合导航系统故障检测中的应用

发布时间：2018-03-09 22:23

本文选题：组合导航系统　切入点：混合χ检验法　出处：《中国惯性技术学报》2016年05期 　论文类型：期刊论文

【摘要】：为提高SINS/GPS组合导航系统的可靠性,在分析了残差χ~2检测法和双状态χ~2检测法的基础上,提出一种混合χ~2检测法。该方法中残差χ~2检验法和双状态χ~2检验法并行工作且共用同一个卡尔曼滤波器,同时残差χ~2检验法的检测结果决定了对双状态χ~2检验法的两个状态递推器的操作:当残差χ~2检验法检测到组合导航系统故障时,则通过控制开关使卡尔曼滤波结果不对两个状态递推器进行状态重置,反之,如果残差χ~2检验法检测系统正常,则允许卡尔曼滤波结果对状态递推器进行状态重置,从而有效地解决了残差χ~2检验法对软故障不敏感的问题和双状态χ~2检验法的两个状态递推器易受污染的问题,组合导航系统故障诊断结果由残差χ~2检测法和双状态χ~2检测法共同决定。仿真实验分析表明,该方法能够降低虚警率,有效地提高组合导航系统故障诊断的准确性和可靠性。
[Abstract]:In order to improve the reliability of SINS/GPS integrated navigation system, based on the analysis of residual 蠂 ~ 2 detection method and dual-state 蠂 ~ 2 detection method, A mixed 蠂 ~ 2 detection method is proposed, in which the residual 蠂 ~ 2 test and the two-state 蠂 ~ (2) test work in parallel and share the same Kalman filter. At the same time, the result of residual 蠂 ~ 2 test determines the operation of two state recursors of the two-state 蠂 ~ 2 test: when the residual 蠂 ~ (2) test detects the failure of the integrated navigation system, Then the Kalman filter results can not reset the state of the two state recursors by controlling the switch. On the contrary, if the residual 蠂 ~ 2 test method detects the system to be normal, then the Kalman filter results can reset the state of the state recursors. The problem that residual 蠂 ~ 2 test method is insensitive to soft fault and that two state recursive devices of double state 蠂 ~ 2 test method are easily contaminated are solved effectively. The fault diagnosis results of integrated navigation system are determined by the residual 蠂 ~ 2 detection method and the dual-state 蠂 ~ 2 detection method. The simulation results show that the method can reduce the false alarm rate and effectively improve the accuracy and reliability of the integrated navigation system fault diagnosis.
【作者单位】：山东理工大学机械工程学院;
【基金】：国家自然科学基金(61302162) 山东省自然科学基金(ZR2015FL012) 山东省高等学校科技计划项目(J14LN76)
【分类号】：TN967.2

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