Research On Fault Diagnosis Of Integrated Navigation System Based On IMM Algorithm

Inertial navigation, satellite navigation, and celestial navigation for the navigation of these three methods have advantages and disadvantages of representative, give full play their respective advantages to complement each other to form a precise integrated navigation system is an important development direction of guidance, navigation research is Typical objects. Integrated navigation systems to further improve the reliability and accuracy, this paper integrated navigation systems fault detection and diagnosis algorithm is studied.In response to these problems, this paper introduces the overall scheme of the integrated navigation system design, including the four integrated navigation system operating mode, state estimation and fault-tolerant integrated navigation system solutions. Fault detection algorithm in Integrated Navigation, the main discussions of the current mature several filtering algorithms, including the centralized Kalman filter, the Federal Kalman filter, adaptive Kalman filter, and interactive multiple model algorithm, in which the interactive multiple model algorithm Slightly higher accuracy of several other Kalman filter, for aircraft, missiles and other important transporters, the navigation system's reliability is more important than accuracy.To further verify the interactive multiple model algorithm in integrated navigation system fault detection and diagnosis of the superiority of this paper, GPS / INS integrated navigation system for example, established a mathematical model of the integrated navigation system and fault model in MATLAB simulation platform will be Interacting multiple model algorithm with the traditional Kalman filter algorithm were compared, the results show that the integrated navigation system in the sensor or actuator failures, the interacting multiple model algorithm accuracy higher than the traditional Kalman filter algorithm.