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基于联邦滤波的容错组合导航系统通常在判定故障时刻对故障子系统进行整体隔离,未充分考虑缓变故障影响的渐近变化与状态分量间的差异.为此,提出一种基于序贯概率映射的组合导航自适应容错算法.该算法通过子滤波器新息动态映射建立局部估计状态统计模型,通过序贯概率比检测在线估计缓变故障影响下的局部状态质量,并据此对融合过程进行自适应调节.仿真结果表明,所提出的方法能有效提高组合导航系统对缓变故障的自适应容错调节能力.
The fault-tolerant integrated navigation system based on federated filtering usually divides the faulty subsystem normally when the fault is determined, and does not fully take into account the difference between the asymptotic and the state components of the influence of the creep fault.To this end, The adaptive fault-tolerant algorithm of integrated navigation is proposed in this paper.The local estimated state statistical model is established by dynamic mapping of subfilters’ new information, the local state quality is estimated online by sequential probability ratio detection, and the fusion process is carried out accordingly The simulation results show that the proposed method can effectively improve the adaptive fault tolerance of the integrated navigation system to the slowly changing faults.