Study on fault-tolerant SINS/GPS integrated navigation system

2007 ◽  
Author(s):  
Long Zhao
Keyword(s):  
Navigation System ◽  
Fault Tolerant ◽  
Integrated Navigation ◽  
Integrated Navigation System

scholarly journals A SINS/BDS Integrated Navigation Method Based on Classified Weighted Adaptive Filtering

2019 ◽  
Vol 2019 ◽  
pp. 1-6 ◽  
Author(s):  
Xuchao Kang ◽  
Guangjun He ◽  
Xingge Li
Keyword(s):  
Adaptive Filtering ◽  
Navigation System ◽  
Fault Tolerant ◽  
Hypothesis Test ◽  
Integrated Navigation ◽  
Integrated Navigation System ◽  
Covariance Matching ◽  
Uncertain Model ◽  
Navigation Accuracy ◽  
Navigation Method

Aiming at the problem that the accuracy and stability of SINS/BDS integrated navigation system decrease due to uncertain model and observation anomalies, a SINS/BDS integrated navigation method based on classified weighted adaptive filtering is proposed. Firstly, the innovation covariance matching technology is used to detect whether there is any abnormality in the system as a whole. Then the types of anomalies are distinguished by hypothesis test. Different types of anomalies have different effects on state estimation. Based on the dynamic changes of innovation, different adaptive weighting methods are adopted to correct navigation information. The simulation results show that this method can effectively improve the fault-tolerant performance of integrated navigation system in complex environment with unknown anomaly types. When both model anomalies and observation anomalies exist, the speed and position accuracy are increased by 42% and 24% compared with the standard KF, 38% and 22% compared with the innovation orthogonal adaptive filtering, which has higher navigation accuracy.

scholarly journals A Fault-Tolerant Filtering Algorithm for SINS/DVL/MCP Integrated Navigation System

2015 ◽  
Vol 2015 ◽  
pp. 1-12 ◽  
Author(s):  
Xiaosu Xu ◽  
Peijuan Li ◽  
Jian-juan Liu
Keyword(s):  
Kalman Filter ◽  
Navigation System ◽  
Fault Tolerant ◽  
Doppler Velocity ◽  
Observation Data ◽  
Integrated Navigation ◽  
Fusion Algorithm ◽  
Data Set ◽  
Integrated Navigation System ◽  
Short Period

The Kalman filter (KF), which recursively generates a relatively optimal estimate of underlying system state based upon a series of observed measurements, has been widely used in integrated navigation system. Due to its dependence on the accuracy of system model and reliability of observation data, the precision of KF will degrade or even diverge, when using inaccurate model or trustless data set. In this paper, a fault-tolerant adaptive Kalman filter (FTAKF) algorithm for the integrated navigation system composed of a strapdown inertial navigation system (SINS), a Doppler velocity log (DVL), and a magnetic compass (MCP) is proposed. The evolutionary artificial neural networks (EANN) are used in self-learning and training of the intelligent data fusion algorithm. The proposed algorithm can significantly outperform the traditional KF in providing estimation continuously with higher accuracy and smoothing the KF outputs when observation data are inaccurate or unavailable for a short period. The experiments of the prototype verify the effectiveness of the proposed method.

scholarly journals Navigation Switching Strategy-Based SINS/GPS/ADS/DVL Fault-Tolerant Integrated Navigation System

2021 ◽  
Vol 2021 ◽  
pp. 1-8
Author(s):  
Weiqi Li ◽  
Rui Zhang ◽  
Hongjie Lei
Keyword(s):  
Data Processing ◽  
Navigation System ◽  
Fault Tolerant ◽  
Integrated Navigation ◽  
Sensor Faults ◽  
Sensor Failure ◽  
Switching Strategy ◽  
Integrated Navigation System ◽  
Serial Data ◽  
Federated Filtering

Considering the conventional federated filtering-based fault-tolerant integrated navigation system is difficult to be implemented by serial data processing circuits, this paper presents navigation switching strategy-based SINS/GPS/ADS/DVL fault-tolerant integrated navigation system to guarantee the reliability of integrated navigation system under sensor faults. When sensor failure appears, SINS and fault-free sensors are selected successively to form an integrated navigation system, such that reliable navigation parameters can be obtained. The simulation tests are implemented to verify that the SINS/GPS/ADS/DVL integrated navigation system can provide reliable navigation parameters when ADS and DVL are disabled.

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