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以SINS/GPS/Doppler为例,设计容错组合导航系统,该系统包括SINS容错算法、子系统故障检测及隔离、容错综合算法。采用联邦滤波算法,提高了计算精度和可靠性,具有较好的容错性和环境适应性,有较高的工程实用价值。 1 引言现代科学技术已能给航行体提供多种导航设备,如惯性导航系统(INS)、多普勒导航系统(Doppler)、全球定位系统(GPS)等。单一的导航系统在使用中有种种限制和不尽人意之处,人们将目光转向组合导航,将惯性导航系统与其它导航系统适当地组合起来,可提高导航精度,提高系统的可靠性
Taking SINS / GPS / Doppler as an example, the fault-tolerant integrated navigation system is designed. The system includes SINS fault-tolerant algorithm, subsystem fault detection and isolation, fault-tolerant synthesis algorithm. The use of federal filtering algorithm to improve the calculation accuracy and reliability, with good fault tolerance and environmental adaptability, a higher engineering value. 1 INTRODUCTION Modern science and technology have been able to provide a variety of navigational aids to navigation vehicles, such as inertial navigation system (INS), Doppler navigation system (Doppler), global positioning system (GPS) and so on. A single navigation system has various limitations and unsatisfactory aspects in use. People turn their attention to integrated navigation. By properly combining the inertial navigation system with other navigation systems, the navigation accuracy can be improved and the reliability of the system can be improved