The abrupt errors contained in GPS signals influence, or even completely ruin the GPS/INS integrated navigation system.To solve this problem,a dual-stages fault detection and isolation method was proposed.Firstly,the chi-square test was implemented to detect the existence of faults on the whole system level.Then, w test was investigated to identify and isolate faults within each subsystem.Compared with traditional fault detection and isolation methods,the proposed method can reduce the probability of miss-detection and improve the probability of successful identifying faults in each subsystem.The simulation results show that the navigation accuracy and stability of the GPS/INS integration system can be effectively improved by using this proposed method.
Key words
integrated navigation /
fault detection and isolation /
chi-square test /
w test
{{custom_keyword}} /
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
References
[1] BRUMBACK B D,SRINATH M D.A Chi-square test for fault-detection in Kalman filters[J].IEEE Automatic Control,1987,32(6):552-554.
[2]BRUMBACK B D,SRINATH M D.Fault-tolerant multisensor navigation system design[J].IEEE Aerospace and Electronic System,1987,23(6):738-755.
[3]CARLSON N A.Federated filter for fault-tolerant integrated navigation systems[C]//Position Location and Navigation Symposium.Orlando:IEEE,1988:110-119.
[4]DONG H H,OH S H,LEE S J,et al.Design of a low-cost attitude determination GPS/INS integrated navigation system[J].GPS Solution,2005,9(3):294-311.
[5]刘建业,李丹,熊智.一种改进的残差χ2检验方法在联邦UKF滤波器中的应用[J].仪器仪表学报,2009,30(12):2 568-2 573.
LIU Jian-ye,LI Dan,XIONG Zhi.Research on improved residual Chi-square fault detection method for federated unsecented Kalman filter[J].Chinese Journal of Scientific instrument,2009,30(12):2 568-2 573.(in Chinese)
[6]ABRAHAM W,BAR-ITZHACK I Y.The psi-angle error equation in strapdown inertial navigation systems[J].IEEE Aerospace and Electronic Systems,1978,14(3):539-542.
[7]SCHERZINGER B M,REID D B.Modified strapdown inertial navigation error models[C]//Position Location and Navigation Symposium.Las Vegas:IEEE,1994:426-430.
[8]BAR-ITZHACK I Y,GOSHEN-MESKIN D.Unified approach to inertial navigation system error modeling[J].Journal of Guidance Control and Dynamics,1992,15(3):648-653.
[9]HAN S L,WANG J J.Integrated GPS/INS navigation system with dual-rate Kalman filter[J].GPS Solutions,2012,16(3):389-404.
[10]EDWAN E,ZHOU J,ZHANG J,et al.A new loosely coupled DCM based GPS/INS integration method[J].Navigation,2012,59(2):93-106.
[11]BAARDA W.Statistical concepts in geodesy[J].Publications on Geodesy,1967,2(4):1-75.
[12]WANG J J, KNIGHT N L.New outlier separability test and its application in GNSS positioning[J].Journal of Global Positioning Systems,2012,11(1); 46-57.
[13]TEUNISSEN P J G.Testing theory,an introduction[M].Delft:Delft University Press,2000.
[14]TEUNISSEN P J G.Network quality control[M].Delft:Delft University Press,2006.
{{custom_fnGroup.title_en}}
Footnotes
{{custom_fn.content}}