| 基于矢量分配的组合导航容错联邦滤波算法 |
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| 引用本文： | 何广军,康旭超.基于矢量分配的组合导航容错联邦滤波算法[J].国防科技大学学报,2020,42(5):98-106. |
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| 作者姓名： | 何广军 康旭超 |
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| 作者单位： | 空军工程大学 防空反导学院, 陕西 西安 710051;空军工程大学 研究生院, 陕西 西安 710051 |
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| 基金项目： | 国家自然科学基金资助项目(61703424) |
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| 摘 要： | 针对高动态环境下飞行器组合导航系统因不确定故障导致导航精度下降的问题,提出了一种基于矢量信息分配的容错联邦滤波算法。设计矢量形式的故障检测函数,对各观测量进行单独的故障程度划分,克服了将故障子系统所有观测量同时隔离的缺陷；根据观测量是否异常,重构时变量测噪声矩阵和信息分配矢量系数,对子滤波器的状态变量进行信息分配,在隔离故障子系统异常观测量的同时,最大限度地利用正确观测信息。仿真结果表明,采用该算法能够充分发挥各导航子系统的优势,极大提高了导航子系统信息利用率,具有较高的精确性和容错性。
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| 关 键 词： | 组合导航 容错 信息分配 联邦滤波 |
| 收稿时间： | 2019/2/25 0:00:00 |
Fault-tolerant federated filtering algorithm based on vector assignment in integrated navigation system |
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| HE Guangjun,KANG Xuchao.Fault-tolerant federated filtering algorithm based on vector assignment in integrated navigation system[J].Journal of National University of Defense Technology,2020,42(5):98-106. |
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| Authors: | HE Guangjun KANG Xuchao |
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| Abstract: | Aiming at the problem that the navigation accuracy of integrated navigation system of aircraft decreases due to uncertain faults in high dynamic environment, a fault-tolerant federated filtering algorithm based on vector information assignment was proposed. The fault detection function in vector form was designed to determine the fault degree of each observation, which overcomes the disadvantage of isolating all the observations of the fault subsystem at the same time. According to whether the observations were abnormal, the variable measurement noise matrix and information distribution vector coefficient were reconstructed to distribute the information among the state variables of the sub-filter. While isolating the abnormal observation of the fault subsystem, the correct observation information was utilized to the maximum extent. Simulation results show that the algorithm can give full play to the advantages of each navigation subsystem, greatly improve the utilization rate of navigation subsystem information, and have high accuracy and fault tolerance. |
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| Keywords: | integrated navigation fault tolerance information distribution federated filtering |
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