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为了保证导航系统的导航精度和工作可靠性 ,研究了 SINS/ GPS组合导航系统的故障检测方法。将强跟踪Kalman滤波器用于该导航系统的故障检测中 ,并提出了一种自适应调节的带多重次优渐消因子的 Kalman滤波器 ,给出了仿真结果。结果表明 :采用该滤波器 ,对于突变状态具有强跟踪能力 ;在滤波器达到稳定时 ,仍保持对缓变状态以及突变状态的强跟踪能力 ,从而提高 SINS/ GPS组合导航系统的导航精度和工作可靠性 ,适合实际的工程应用
In order to ensure navigation accuracy and reliability of navigation system, the fault detection method of SINS / GPS integrated navigation system is studied. The strong tracking Kalman filter is used in the fault detection of the navigation system, and an adaptively adjusted Kalman filter with multiple suboptimal fading factors is proposed. The simulation results are given. The results show that the filter has strong tracking ability to the abrupt state, while maintaining the strong tracking ability of the abrupt state and the abrupt state when the filter is stable, so as to improve the navigation precision and work of the SINS / GPS integrated navigation system Reliability, suitable for practical engineering applications