0多卫星组合导航系统信息融合及故障检测算法研究

南京航空航天大学硕士学位论文惯性/多卫星组合导航系统信息融合及故障检测算法研究姓名：王春霞申请学位级别：硕士专业：检测技术与自动化装置指导教师：赵伟20080101i///(GDOP)SINS/GPS/Galileo//2χkm−SINS/Galileo//iiABSTRACTInertialnavigationsystem(INS)/multi-satelliteintegratednavigationsystemisarelativelyperfectsystemduetothenavigationinformationofthetwosystemsarecomplementary.Inordertofurtherimprovetheaccuracyandreliabilityoftheintegratednavigationsystem,thealgorithmofinformationfusionandfaultdetectionforSINS/multi-satelliteintegratednavigationsystemisresearchedinthisdissertation.ConsideringthedisadvantagesofthegeneralfederatedkalmanfilterandthecharacteristicsofSINS/multi-satelliteintegratednavigationsystemwhichmeasurementnoiseistime-varying,adouble-adaptivefederatedfilteralgorithmisputforwardinthisdissertation.Thealgorithmcanadjustthemeasurementnoiseon-linewithoutknowingthestatisticcharacteristicsofsystematicnoise,meanwhile,theinformationdistributioncoefficientcanbeadjustedadaptivelyaccordingtothegeometrydilutionofprecision(GDOP).ThesimulationresultsofSINS/GPS/Galileo/BDSintegratednavigationsystemshowthatthealgorithmcanimprovetheprecisionoftheintegratednavigationsystemeffectively.Duetothemulti-informationnavigationsystemontheairplaneoftenworksinthekinematicdisturbenvironment,afilteringalgorithmbasedonkinematicdisturbisresearched.Thearithmeticusesgeometrydilutionofprecisiontoadjustthemeasurementnoiseandusestheinnovationofkalmanfiltertowholecontrolthestatecovariancematrix,meanwhile,theinformationdistributioncoefficientcanbeadjustedadaptivelyaccordingtothecovariancematrixofeachsubsystem.Thealgorithmsolvestheproblemthatinnovationcannotdeterminetheadaptivefactorofobservedvalueandstatusparameteratthesametime.Thesimulationresultsprovethesolutionisfeasible.Inordertoimprovethereliabilityofmulti-informationintegratednavigationsystem,adual-faultdetectionapproachwhichfitsforfederatedfilterisproposed.ResidualChi-squaretestingmethodofthefederatedfilteringstructureisusedtocheckthehardfault,andtheoptimumglobalstateestimateofk-misusedtoconstructthemovingresidualtestingfunctionandtocheckthesoftfault,meanwhile,iiitheinformationdistributioncoefficientcanbeadjustedadaptivelybythesoftfaulttestingfunction.SINS/Galileo/BDSsimulationresultsverifythatthealgorithmhashighfaultdetectionsensitivitytonavigationsystem’shardfaultandsoftfault,andcanfurtherimprovetheintegratednavigationsystem'sreliability.KeyWords:IntegratedNavigation,KalmanFilter,AdaptiveFederatedFilter,KinematicDisturb,FaultDetectionvii1.1..........................................................................32.1.....................................................................112.2................................................................................133.1........................................................................263.2................................................................273.3....................................................................313.4/.......................................................313.5............................................................................323.6GPS.................................................................................323.7GPSGDOP................................................................333.8GPSGDOP............................................................................353.9GalileoGDOP........................................................................353.10GDOP..........................................................................353.11GPSGalileoGDOP........................................................353.12..........................................................................363.13..........................................................................363.14..........................................................................363.15..............................................................................363.16..............................................................................373.17..............................................................................373.18......................................................................................373.19......................................................................................373.20......................................................................................374.1........................................................464.2................................................................................................494.3........................................................................................504.4........................................................................................504.5........................................................................................51/viii5.1.............................................................575.2.............................................................575.3.....................................................595.4SINS/Galileo/...............................595.5...........