The effective fault diagnosis is the basis of system reliability and accuracy in SINS/BDS tightly-coupled integrated navigation system. The state equation and measurement equation in the launch inertial frame are modeled. A fault-tolerant Kalman filtering algorithm is proposed, the improved chi-square test method is designed to realize the detection and screening of BDS measurement fault. The simulation results illustrate that the fault-tolerant Kalman filter can effectively detect faults, the velocity error and the position error are controlled within 0.3m/s and 20m repectively.


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    Title :

    Fault-Tolerant Filtering Algorithm for SINS/BDS Tightly-coupled Integrated Navigation System


    Contributors:
    Benchuan, Zhou (author) / Hao, Lu (author) / Jianyun, Xu (author) / Hongob, Zhang (author)


    Publication date :

    2018-08-01


    Size :

    149912 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English