为提高基于MEMS-SINS/GNSS/ODO/高度计的车载多源组合导航系统的可靠性,设计了带故障检测模块的联邦卡尔曼滤波器。针对残差χ^2检测法对缓变故障的检测灵敏度低,而改进序贯概率比(Sequential Probabitity Ratio Test,SPRT)检测法在故...为提高基于MEMS-SINS/GNSS/ODO/高度计的车载多源组合导航系统的可靠性,设计了带故障检测模块的联邦卡尔曼滤波器。针对残差χ^2检测法对缓变故障的检测灵敏度低,而改进序贯概率比(Sequential Probabitity Ratio Test,SPRT)检测法在故障结束后检测值需要长时间才能恢复到检测阈值以下以至于无法判断故障结束时间的问题,提出了一种残差χ^2-改进SPRT联合故障检测方法。该方法结合了两者的优点,根据系统故障综合决策规则进行故障判定,有效提高了故障检测的灵敏度和可信度。跑车实验结果表明,使用残差χ^2-改进SPRT联合故障检测方法进行故障诊断,能够快速检测出缓变故障和突变故障,通过及时的故障隔离,使导航系统更加适应当前的工作环境,增强了鲁棒性和可靠性,并保证了多源导航系统的导航精度。展开更多
To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environme...To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system （SINS）, the terrain reference navigation system （TRNS）, the Doppler velocity sonar （DVS）, the magnetic compass and the navigation computer utilizing the unscented Kalman filter （UKF） to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter （EKF）, nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.展开更多
文摘为提高基于MEMS-SINS/GNSS/ODO/高度计的车载多源组合导航系统的可靠性,设计了带故障检测模块的联邦卡尔曼滤波器。针对残差χ^2检测法对缓变故障的检测灵敏度低,而改进序贯概率比(Sequential Probabitity Ratio Test,SPRT)检测法在故障结束后检测值需要长时间才能恢复到检测阈值以下以至于无法判断故障结束时间的问题,提出了一种残差χ^2-改进SPRT联合故障检测方法。该方法结合了两者的优点,根据系统故障综合决策规则进行故障判定,有效提高了故障检测的灵敏度和可信度。跑车实验结果表明,使用残差χ^2-改进SPRT联合故障检测方法进行故障诊断,能够快速检测出缓变故障和突变故障,通过及时的故障隔离,使导航系统更加适应当前的工作环境,增强了鲁棒性和可靠性,并保证了多源导航系统的导航精度。
基金Pre-Research Program of General Armament Department during the11th Five-Year Plan Period (No51309020503)the National Defense Basic Research Program of China (973Program)(No973-61334)+1 种基金the National Natural Science Foundation of China(No50575042)Specialized Research Fund for the Doctoral Program of Higher Education (No20050286026)
文摘To improve the navigation accuracy of an autonomous underwater vehicle （AUV）, a novel terrain passive integrated navigation system （TPINS） is presented. According to the characteristics of the underwater environment and AUV navigation requirements of low cost and high accuracy, a novel TPINS is designed with a configuration of the strapdown inertial navigation system （SINS）, the terrain reference navigation system （TRNS）, the Doppler velocity sonar （DVS）, the magnetic compass and the navigation computer utilizing the unscented Kalman filter （UKF） to fuse the navigation information from various navigation sensors. Linear filter equations for the extended Kalman filter （EKF）, nonlinear filter equations for the UKF and measurement equations of navigation sensors are addressed. It is indicated from the comparable simulation experiments of the EKF and the UKF that AUV navigation precision is improved substantially with the proposed sensors and the UKF when compared to the EKF. The TPINS designed with the proposed sensors and the UKF is effective in reducing AUV navigation position errors and improving the stability and precision of the AUV underwater integrated navigation.
