基于预滤波器和两级AIME的GNSS/INS超紧组合慢变故障检测

doi:10.7527/S1000-6893.2021.25168

电子电气工程与控制

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基于预滤波器和两级AIME的GNSS/INS超紧组合慢变故障检测

刘士明¹, 李四海¹, 郑江涛¹, 付强文¹, 陶渊博²

1. 西北工业大学自动化学院, 西安 710072;
2. 中国兵器工业导航与控制技术研究所, 北京 100089

收稿日期:2020-12-25 修回日期:2021-03-21 出版日期:2022-03-15 发布日期:2021-05-20
通讯作者: 刘士明 E-mail:liu0749@163.com

Detection of slowly growing faults of GNSS/INS ultra-tight integration based on prefilters and two-stage AIME

LIU Shiming¹, LI Sihai¹, ZHENG Jiangtao¹, FU Qiangwen¹, TAO Yuanbo²

1. School of Automation, Northwestern Polytechnical University, Xi'an 710072, China;
2. China Ordnance Industry Navigation and Control Technology Research Institute, Beijing 100089, China

Received:2020-12-25 Revised:2021-03-21 Online:2022-03-15 Published:2021-05-20

摘要/Abstract

摘要： 针对包含预滤波器的GNSS/INS非相干超紧组合架构，提出了一种基于预滤波器的两级AIME慢变故障检测方法。该方法首先基于预滤波器构建第1级AIME检测，并设计了关于第1级AIME检测统计量的检测量Kalman滤波器。在发生慢变故障时，第1级AIME故障检测统计量存在递增趋势。对于检测量Kalman滤波器而言，这种递增趋势也可视作一种慢变故障。以检测量Kalman滤波器为基础，构建了第2级AIME检测算法，以达到减小故障检测时间的目的。在单星和两星伪距慢变故障场景下，进行了仿真与对比分析。仿真结果表明，所提方法能够正确识别故障卫星并且可以显著减小慢变故障的检测时间。对于小变化率的慢变故障，所提方法在检测时间上的优势更加明显。

关键词: 矢量式跟踪, GNSS/INS超紧组合, 非相干式, 通道预滤波器, 故障检测

Abstract: A two-stage Autonomous Integrity Monitored Extrapolation (AIME) method is proposed based on channel prefilters to detect the Slowly Growing Faults (SGFs) in the non-coherent ultra-tight integration architecture of the Global Navigation Satellite System (GNSS) and the Inertial Navigation System (INS).First, the first-stage AIME detection is constructed based on channel prefilters.Then, based on the test statistics of the first-stage AIME, a Test Statistic Kalman Filter (TSKF) is developed.In the presence of SGFs, the test statistics of the first-stage AIME show a gradually increasing trend.This increasing trend can also be regarded as a slowly growing fault for the TSKF.Based on the TSKF, the second-stage AIME detection algorithm is developed to reduce the fault detection time.Computer simulations and comparative analyses were carried out under the scenarios of single-satellite and two-satellite SGFs introduced in the pseudorange.Simulation results demonstrate that the proposed method can significantly reduce the detection time of SGFs.For the SGFs with a small growing rate, the proposed method has more obvious advantages in detection time.

Key words: vector tracking, GNSS/INS ultra-tight integration, non-coherent form, channel prefilter, fault detection

中图分类号:

V249.32⁺8

刘士明, 李四海, 郑江涛, 付强文, 陶渊博. 基于预滤波器和两级AIME的GNSS/INS超紧组合慢变故障检测[J]. 航空学报, 2022, 43(3): 325168-325168.

LIU Shiming, LI Sihai, ZHENG Jiangtao, FU Qiangwen, TAO Yuanbo. Detection of slowly growing faults of GNSS/INS ultra-tight integration based on prefilters and two-stage AIME[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(3): 325168-325168.

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基于预滤波器和两级AIME的GNSS/INS超紧组合慢变故障检测

Detection of slowly growing faults of GNSS/INS ultra-tight integration based on prefilters and two-stage AIME

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