【摘要】 INS作为一种精密的仪器,容易发生由于自身老化或受到外界环境干扰出现故障无法正常工作的情况。因此,深入研究了INS/GPS的故障检测算法,提出了一种基于残差卡方检验和动态Allan方差的INS/GPS故障检测与定位算法。在系统层面,通过残差式卡方检验法,能够在组合导航系统出现故障时及时准确识别,并为后续的动态Allan方差法确定一个故障发生的时间段,大大减小了Allan方差的计算量。随后通过动态Allan方差法对惯性传感器时变特性的表征,从传感器层面准确识别出故障发生的位置,两者结合实现了INS/GPS系统故障的及时检测与准确定位。通过对仿真和实验数据的分析,验证了这种方法对INS/GPS故障检测及定位的有效性。更多还原

【Abstract】 As precise instrument,INS is known to be easily affected by self-performance degradation or outside environment interference caused mal-function. As a result,a method for INS/GPS fault diagnosis is deeply studied,an algorithm of fault diagnosis and positioning based on dynamic Allan variance(DAVAR) and residual Chi-square test is proposed. At system level through residual Chi-square test,fault of integrated navigation system can be timely identified and provide a time interval for subsequent DAVAR,which significantly reduces the amount of calculation. Next,DAVAR can recognize the timevarying feature of inertial sensor that gives accurate location of the existing fault on sensor level. Combining those two methods,the algorithm realizes timely fault detection and accurate positioning for INS/GPS. Through simulation and analysis of experimental data,the effectiveness of this algorithm on INS/GPS fault detection and positioning is verified.更多还原