| 摘要: |
| 为保证组合导航系统运行的可靠性和输出导航参数的准确性，结合组合导航系统的自主完好性检测的基本算法，基于气压高度辅助下的卫星导航接收机最小二乘检测法和组合导航卡尔曼卡方检验法，提出了一种能够识别突变故障和缓变故障的组合导航系统自主完好性检测的算法，充分利用导航系统中高精度惯导系统的导航信息，实现了组合导航系统的自主完好性检测算法，提高了组合导航系统在复杂环境下的导航信息可靠性。 |
| 关键词: 故障检测 气压辅助 组合导航系统 最小二乘 |
| DOI： |
|
| 基金项目:装备预研共用技术课题（41417040301） |
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| Research on Autonomous Integrity Monitoring Algorithm of SINS/GNSS Tightly Integrated Navigation System |
| GUAN Chun-yang,LIU Yang,HE Wei,GUO Yu-sheng |
| (Beijing Institute of Automatic Control Equipment, Beijing 100074, China) |
| Abstract: |
| To ensure the operational reliability of the intergrated navigation system and the accuracy of the output navigation parameters, with the basic autonomous integrity monitoring algorithm of the integrated navigation system, an autonomous integrity monitoring algorithm of integrated navigation system which can identify abrupt and slowly varying faults is presented based on barometer aided least square method of satellite navigation receiver and Kalman filter Chi-square method of integrated navigation. The navigation information of high precision inertial navigation system is used to realize the autonomous integrity monitoring algorithm of the integrated navigation system and improve the reliability of the integrated navigation system in complex environment. |
| Key words: Fault detection Barometer aided Integrated navigation system Least squares |
