【摘要】 针对传统空中修正算法在基准信息出现故障时,空中修正精度严重下降的问题,提出了一种新的基于安全窗口χ2检验的捷联惯导系统容错空中修正算法,通过推导给出了残差χ2检验法的故障检测函数公式,基于该函数设计了故障诊断方案和容错策略,实现了基准信息的故障检测、隔离以及捷联惯导系统容错空中修正,并通过设置安全窗口,有效降低了容错空中修正算法的误警率,提高了算法的鲁棒性。对该容错空中修正算法进行了理论分析、仿真试验验证以及车载和机载试验考核,结果表明基于安全窗口χ2检验的捷联惯导容错空中修正算法是可行和有效的,性能优于传统空中修正算法,可以有效减小故障对空中修正精度的影响,提高了空中修正的精度和可靠性。更多还原

【Abstract】 Since the precision of conventional in-flight correction algorithms would be seriously decreased when some faults occurred in the reference navigation information, a novel fault-tolerant SINS in-air correction algorithm was proposed based on the residual chi-square test with a safe window. The fault detection function was presented for the residual chi-square test. Based on the function, a fault diagnosis approach was designed, which could effectively detect and isolate the faults, and a fault-tolerant in-flight correction strategy was presented. The proposed fault diagnosis is robust to the uncertain disturbances by setting a safe window. The results of theoretic analysis, simulation, dynamic vehicle experiment and airborne experiment show that the algorithm is feasible and effective. The fault effects on the in-flight correction algorithm are eliminated effectively, and the in-flight correction precision and reliability are improved.更多还原