组合导航系统容错方法的研究

目前组合导航作为一种比单一导航更优越的导航方式得到大量使用。但它也存在随着传感器增多,复杂性增加,而使得系统出错概率增加的缺点。因此,必须采用有效的故障容错方法以提高系统的容错性能。本文介绍了导航传感器的特点及常见故障类型,对其正常和故障时的数据进行了软件模拟。在传统的组合导航系统（GPS/2DR）的基础上,利用相同的传感器自行设计一种新的组合导航容错系统（GPS/3DR）,并通过仿真实验验证了设计的合理性。仿真实验成功地检测出模拟的故障,准确地定位出故障传感器,并在故障隔离后动态地重构了系统,基于动态检测和容错反馈算法融合了导航传感器的数据,最终得到比不进行故障检测时更好的导航效果。通过从3个方面对本文设计的组合导航系统和传统的组合导航系统进行比较,得出本文设计的组合导航系统在这3个方面都优于传统的组合导航系统的结论。

Study on Fault Toleration in Integrated Navigation Systems

At present, integrated navigation systems are used on a large scale because of their better performance as compared with the mode of single navigation. However, along with the increasing of the number of sensors, the systems become more complicated, and the error probabilities are raised. So some effective steps must be taken to improve fault toleration of the systems. In terms of the characteristics and the most familiar fault types of navigation sensors, data of sensors at normal and fault were simulated in the paper. On the basis of the traditional integrated navigation system, a new integrated navigation system with fault toleration called GPS/ 3DR system was designed, and the system was verified by simulation. The simulated fault was detected success- fully, the sensor with fault was located, the system was reconstructed dynamically after isolating the sensor with fault, the data of navigation sensors based on dynamic detection and fault toleration feedback was fused, and the better navigation effect was obtained than the system without fault toleration. By comparison, the conclusion is drawn that the newly designed integrated navigation system is better than the traditional one in three aspects.