GNSS/INS 紧组合导航系统自主完好性监测分析

摘要

可靠性和对故障的可区分性是评价系统完好性的两个重要因素。本文将多 GNSS 系统与不同精度的 INS 系统进行组合，由此分析不同因素对组合系统内部的可靠性和故障探测与隔离能力的影响。仿真结果表明，集成多 GNSS 系统可以改善卫星星座的几何分布结构，从而提高系统的内部可靠性和对故障的区分能力；当 GNSS 系统与 INS 系统相结合时，也能大幅度提高系统的可靠性和区分性；相较于低精度的INS 系统，采用高精度的 INS 系统能够进一步提高系统的可靠性，并增强对故障的区分能力。%Rel iabi l ity and separabi l ity are two crucial indicators to assess the performance of system integrity.In this paper,the system rel iabi l ity and fault detection and Isolation (FDI )capabi l ity were analyzed upon multi-constel lation GNSS navigation system and GNSS/INS integrated navigation system. Simulation results show that by fusing multi-constel lation GNSS systems,the satel l ite geometric strength is largely enhanced so as to improve the system internal rel iabi l ity and the capabi l ity of FDI.Besides,the system rel iabi l ity and separabi l ity are further improved by integrating GNSS and INS.The higher the accuracy of the inertial sensors,the better the system performance in terms of rel iabi l ity and abi l ity of FDI.