组合导航系统故障检测技术研究

摘要

A new fault detection method is proposed for the integrated navigation system. Fault detection is undertaken by checking the consistency between the global state estimate and the local state estimate of federated filter by means of the chi-square test (CST). Meanwhile, the fault isolation method is also discussed. The simulation and laboratory experimental results show that the new method is very efficient and practical; the reliability and safety of the system can be improved.%提出了一种新的故障检测算法。该算法由联合滤波器的全局估计与各局部估计之差，得到残差序列，通过残差χ2检验，来判别系统是否出现了故障。同时进一步讨论了故障分离方法。数值仿真及实际应用结果表明，该算法能有效地检测出组合导航系统的故障，保证了系统的安全性和可靠性。