摘要
为保证惯性导航信息的可靠性,在体积与成本受限的情况下设计了一种非对称冗余惯性导航系统,包括FOG-INS和MEMS-INS两套惯导。无故障时FOG-INS输出导航信息并利用序贯变分贝叶斯卡尔曼滤波在线标定MEMS惯性器件误差,估计结果的指数加权收敛度被映射到统一闭区间内实现标准化评价。诊断出FOG-INS故障后,估计反馈策略将基于标准化评价结果补偿MEMS惯性器件误差,校正MEMS-INS并输出导航信息。仿真实验结果显示,经过0.8 s的检测延时,故障后基于变分贝叶斯卡尔曼滤波的MEMS惯导y轴陀螺漂移、z轴陀螺漂移的估计相比于标准Kalman滤波分别提升了80.80%和67.76%,发生故障60 s后完成误差校正的MEMS-INS水平位置误差相比于不校正时减小了33.59%,有效保证了惯性导航信息的可靠性。
To guarantee the reliability of inertial navigation information,an asymmetric redundant inertial navigation system is designed under the condition of limited size and cost,including two sets of inertial navigation systems,FOG-INS and MEMS-INS.In normal case,the FOG-INS outputs navigation information and calibrates the MEMS inertial device errors online using sequential variational Bayesian Kalman filter.The exponentially weighted convergence degree of each estimation is mapped into a unified closed interval for standardized evaluation.When the FOG-INS fault is diagnosed,the estimation feedback strategy will compensate the errors of the MEMS inertial device based on the standardized evaluation result,and the corrected MEMS-INS will output the navigation information.The simulation results show that after a detection delay of 0.8 seconds,the gyro drift estimations of y-axis and z-axis of MEMS-INS based on variational Bayesian Kalman filter after the fault are improved by 80.80%and 67.76%respectively compared with Kalman filter,and the horizontal position error of corrected MEMS-INS after 60 seconds of failure is reduced by 33.59%compared with the non-corrected situation,which effectively ensures the reliability of the inertial navigation information.
作者
肖烜
卢建睿
张永炎
沈凯
XIAO Xuan;LU Jianrui;ZHANG Yongyan;SHEN Kai(School of Automation,Beijing Institute of Technology,Beijing 100081,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2022年第3期288-295,共8页
Journal of Chinese Inertial Technology
基金
国家自然科学基金(61873038)。
关键词
非对称冗余
惯性导航
故障诊断
在线标定与评价
变分贝叶斯卡尔曼滤波
asymmetric redundancy
inertial navigation
fault diagnosis
on-line calibration and evaluation
variational Bayesian Kalman filter
