Fault self-checking method of Kalman filter and its application for initial alignment of SINS

被引：0
|
作者：
Guo S. [1 ,2 ]
Wang C. [2 ]
Li Y. [2 ]
Tian P. [3 ]
机构：
[1] College of Information and Communication, National University of Defense Technology, Wuhan
[2] Aviation Combat Duty College j Aviation University Air Force, Changchun
[3] Unit 93152 of the PLA, Tonghua
来源：
Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics | 2024年 / 46卷 / 02期
关键词：
anomaly test criteria; inertial navigation system; initial alignment; Kalman filter;
D O I：
10.12305/j.issn.1001-506X.2024.02.30
中图分类号：
学科分类号：
摘要：
Kalman filter is commonly used in initial alignment and integrated navigation of inertial navigation system. Under the condition of abnormal system noise and observation noise, the filter will appear to decline in accuracy or even divergence. In order to solve this problem, two anomaly test criterias for filter based on covariance matching of the new information and Mahalanobis distance chi-square test are analyzed in theory. Considering the typical applications of the proposed criteria in conventional Kalman filter, unscented Kalman filter and cubature Kalman filter, a test is designed based on the initial alignment of strapdown inertial navigation system. Performances of these two test criteria methods under the condition of abnormal system noise and observation noise are verified. However, the strictness of the test criteria is different and the tailing effect have appeared. Therefore, some suggestions in practical application are also given. © 2024 Chinese Institute of Electronics. All rights reserved.
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页码：668 / 674
页数：6
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