Fault Detection in SINS/CNS/GPS Integrated System Based on Federated Filter

摘要：

　　In order to improve the reliability and accuracy of the SINS/CNS/GPS integrated system,a fault-tolerant integrated navigation algorithm based on federated Kalman filter is proposed.The architecture of the federated Kalman filter includes a master filter,two local filters,and two fault detection functions which are based on the residuals of the local filter.Because the choosing of threshold for fault detection is very important to fault-tolerant integrated navigation system,a new method of Dual-threshold detection is built and used in fault detection.The simulation results show that the proposed algorithm using Dual-threshold detection based on federated Kalman filter is effective,and the reliability and accuracy of the integrated navigation system are improved.

关键词： Fault detection Federated Kalman filter Dual-threshold detection

作者: ZONG Hua WANG Bo LIU Zhun GAO Lei JI Xiao QIN LI Sun

作者单位: School of Automation,Beijing Institute of Technology,Beijing 100081,China;National Key Laboratory of School of Automation,Beijing Institute of Technology,Beijing 100081,China National Key Laboratory of Science and Technology on Aerospace Intelligent Control,Beijing,100854,Ch

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 608-612

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）