【摘要】 传感器是导航系统中的重要部件,传感器故障容错性的分散化滤波,对提高系统的可靠性具有重要意义。以SINS/GPS/CNS组成的组合导航系统为研究对象,采用联邦滤波和方差交叉滤波相结合的方法,实现了对传感器故障具有容错性的分散化滤波,对导航系统的精度和容错性进行分析。仿真结果表明,将分散化滤波方法用于多个传感器组成的组合导航系统,不但具有精度高的特点,而且由于具有信息的冗余,整个系统具有较好的容错能力,可以提供更加完善、精确地反映运载体运动的导航信息。更多还原

【Abstract】 Sensors are important parts of the navigation system. The decentralized filtering for sensor fault tolerance has great significance for improving system reliability. Based on SINS/GPS/CNS,the method combining federated filtering and covariance intersection filtering is adopted to achieve the decentralized filtering of sensor fault tolerance,and the navigation accuracy and tolerance are analyzed. The simulation results indicate that the implementation of decentralized filtering on integrated navigation system that composed of multi sensors can bring the benefits of high accuracy and improve the system capability of fault tolerance due to the information redundancy. Thus,more completed and accurate navigation information about the movable sensor carrier can be provided.更多还原