The Combination Of Navigation Information Fusion And Fault Detection Technique

As the development of aviation and aerospace technology, we can equip carrier with kinds of navigation devices. However, none of these fits all application conditions, which makes integrated navigation technology much more important.Integrated navigation technology fuses information output from navigation devices which redundantly equipped. In this case, navigation system can work with high precision and robust even in strict circumstance. Among all integrated navigation technology, kalman filter based algorithm attracts most attention, for its discrete recursion computing, which is very convenient for computer calculation.There are two fatal problems with traditional integrated kalman filter, one is heavy computing load, especially in the case estimate vector dimension is high;the other is that it not convenient for fault-tolerant, which is very important for modern navigation technology. Federated filter based integrated navigation proposed to deal with these. It enjoys advantages of design flexibility for filter architecture, light computing load, and data processing can be done parallel.This paper mainly discusses kalman filter based integrated navigation technology, especially introduces kalman filter and federated filter principles in detail, and proves that federated filter can gain optimal estimate as well. Meanwhile, in this paper we've designed an integrated navigation information management system, based on SINS, GPS and SITAN navigation system for a certain style of UAV. We've also designed fault-tolerant system through state X~2 tests and residue X~2 tests taking global information into account. Experiment results show us all approaches are feasible in this paper.