关键词: 组合导航, 联邦滤波器, 信息分配系数, 权衡因子, 容错性, 滤波精度

Abstract:

The fusion algorithm of integrated navigation system generally adopted a federated filtering algorithm with fast running speed, strong real-time performance, and low computational complexity. For the current information distribution principle in the algorithm couldn't take into account the defects of system filtering accuracy and fault tolerance at the same time, an adaptive information distribution method based on the balancing factor was adopted. Through the error covariance and measurement noise variance of each subsystem, the information distribution coefficient that could improve the filtering accuracy and fault tolerance of the system was calculated. The failure probability of each subsystem was normalized to obtain the balancing factor of the subsystem. Under the balancing factor, the proportion of the above two information distribution coefficients was adjusted adaptively, so as to achieve both the accuracy and fault tolerance of the system. Simulation results showed that the proposed method successfully reduced the fusion error of the system and guaranteed the performance and fusion accuracy of the system.

Key words: integrated navigation, federated filter, information distribution coefficient, trade-off factor, fault tolerance, filtering accuracy