A Fault-Tolerant Integrated Navigation Method for Land Vehicle

摘要：

A fault-tolerant integrated navigation method for land vehicle is researched in this paper, which is based on inertial measurement unit (IMU), global positioning system (GPS) and dead reckoning system (DRS). Firstly, position and velocity outputs of IMU and GPS are taken to construct measurements of IMU/GPS integrated navigation, and IMU/GPS Kalman filtering algorithm is deduced and designed. At the game time, position outputs of IMU and DRS are taken to construct measurementsof IMU/DRS integrated navigation, and its Kalman filtering algorithm is also designed. Then IMU/GPS/DRS federated filter frame is designed, and the global optimal fusion algorithm of the master filter is researched. Thus estimations of system states from IMU/GPS and IMU/DRS local filters are sent to the master filter independently. Consequently global optimal estimations of system states are given in the master filter. Lastly, based on the federated filter frame, the fault detection and isolation algorithm for IMU/GPS/DRS integrated navigation system is designed. Simulation results show that, position accuracy of this integrated navigation method reaches ±4.8m, and velocity accuracy reaches ± 0.09m/s. And simulation results also show that, this integrated navigation method has strong fault-tolerance, and it can keep high accuracy when GPS or DRS is out of order.

关键词： fault-tolerant integrated navigation inertial measurement unit global positioning system dead reckoning system land vehicle

作者: Yang Bo Zhang Youhong Chai Yan

作者单位: Xian Research Inst Of High-Tech Xian 710025 China College of Materials Northwestern Polytechnical University Xian 710072 China

会议类型: 国际会议

会议名称: The 2nd IEEE International Conference on Advanced Computer Control(第二届先进计算机控制国际会议 ICACC 2010)

会议地点: 沈阳

会议语种:英文

页码: 432-435

在线出版日期: 2010-03-27（万方平台首次上网日期，不代表论文的发表时间）