Adaptive fault tolerance federated filter method for SINS/GNSS/CNS integrated navigation

被引：1
|
作者：
Zhang C. [1 ]
Zhao X.-B. [1 ]
Pang C.-L. [1 ]
Feng B. [2 ]
Gao C. [1 ]
机构：
[1] Information and Navigation College, Air Force Engineering University, Xi'an, 710077, Shaanxi
[2] Equipment Management and Unmanned Aerial Vehicle Engineering College, Air Force Engineering University, Xi'an, 710051, Shaanxi
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2019年 / 36卷 / 09期
基金：
中国国家自然科学基金;
关键词：
Fault tolerance; Federated filter; Information sharing factor; Integrated navigation;
D O I：
10.7641/CTA.2019.80482
中图分类号：
学科分类号：
摘要：
The gradual fault that occurs on the subsystem will have a bad influence on the accuracy of federated filter. To solve this problem, the influence of information sharing factor on the robustness and accuracy of local filters, the accuracy of global estimation, and the fault detection rate is investigated. On this basis, an adaptive fault tolerance federated filter scheme is presented. First, the measurement noise covariance matrix is adjusted adaptively to reduce the influence of missed detection fault on the faulty sub-filter and global estimation, which can improve the precision of normal sub-filter and the reconstruction ability of system in return. Then, the information sharing factor is adjusted dynamically basing on the fault detection function to further improve the fault detection performance. The simulation results show that, when compared with the traditional fault tolerance federated filter, this method can reduce the influence of fault on filter accuracy effectively, and has better global accuracy. © 2019, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
引用
收藏
页码：1469 / 1476
页数：7
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