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ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2022, Vol. 43 ›› Issue (3): 325168-325168.doi: 10.7527/S1000-6893.2021.25168

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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. 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

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

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