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.
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
.
DOI: 10.7527/S1000-6893.2021.25168
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