基于序贯概率映射的组合导航自适应容错算法-控制与决策.pdfVIP

第29 卷 第10 期 控 制 与 决 策 2014 年 10 月 Vol. 29 No. 10 Control and Decision Oct. 2014 文章编号: 1001-0920 (2014) 10-1861-05 DOI: 10.13195/j.kzyjc.2013.0811 基于序贯概率映射的组合导航自适应容错算法 a a a a,b 王 融 , 刘建业 , 熊 智, 钟丽娜 (南京航空航天大学a. 自动化学院，b. 金城学院，南京210016) 摘 要: 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. 关键词: 组合导航；自适应容错；故障映射；序贯概率比检验；联邦滤波 中图分类号: V249 文献标志码: A Adaptive fault-tolerant algorithm based on sequential probability mapping for integrated navigation a a a a,b WANG Rong , LIU Jian-ye , XIONG Zhi , ZHONG Li-na (a. College of Automation Engineering，b. Jincheng College ，Nanjing University of Aeronautics and Astronautics ，Nanjing 210016，China ．Correspondent ：WANG Rong ，E-mail ：rongwang@nuaa.edu.cn)) Abstract ：：：In the navigation based on the federated filter, the fault subsystem is isolated entirely on the fault-detected epoch, without considering the asymptotic changing and components difference of soft fault influence. Therefore, a kind of adaptive fault-tolerant algorithm based on sequential probability mapping for the integrated navigation is proposed. The statistic model of local estimation states is built by fault dynamic mapping. Then the quality of local estimation states under soft fault is calculated online by sequential probability ratio test and finally used in adaptive tuning of global fusion. Th