改进故障隔离的容错联邦滤波

doi:10.7527/S1000-6893.2014.0074

Abstract

Abstract:

In order to deal with the problem that the fault in any subsystem would affect navigation system in the reset mode federated filter, a fault tolerant federated filter using fault detection function to construct time-varying measurement noise is proposed. In this new structure, the faulty sub-filter is equivalent to a normal system whose measurement noise tends to infinity to replace the traditional fault isolation method. The optimal estimation values of the corresponding sub-filters are derived to eliminate the influence of suboptimality of the sub-filters' estimation to fault detection. A dynamic information distribution algorithm is presented to reduce proportion of fault sub-filters' estimation information. The simulation based on inertial navigation system/celestial navigation system/scene matching navigation system/terrain contour matching (INS/CNS/SMNS/TERCOM) integrated navigation system is carried out. Simulation results show that the estimation performance of the proposed method is better than the fault isolation method. Therefore, the proposed method has the advantages of improving faulty sub-filters' accuracy, ensuring healthy sub-filters' robustness, and making the performance of global estimation smooth. It has highly practical value.

Key words: integrated navigation, federated filter, feedback resetting, information distribution, fault tolerant

CLC Number:

V249.32

XIONG Zhi, SHAO Hui, HUA Bing, FANG Zheng. An improved fault tolerant federated filter with fault isolation[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(3): 929-938.

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An improved fault tolerant federated filter with fault isolation

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