基于遍历性的组合导航系统故障检测方法研究

摘要

理想情况下,基于卡尔曼滤波的组合导航系统在无故障时的滤波残差为白噪声,故障时通常用x2法来检测,但用这种方法检测往往具有较大的虚警.因此,针对无故障时卡尔曼滤波器的滤波残差是白噪声这一特点,提出了一种新的故障检测方法来判断系统是否发生了故障,在应用时大大降低了虚警,取得了较好的效果.%Ideally,filter residuals is a white noise in the Kalman filter-based integrated navigation system in the absence of fault ,and x2 method usually falls to detect while failure ocuurs. But detection in this way often brings higher false alarm. Therefore, the feature for Kalman filter residual is white noise when no fault,this paper proposed a new fault detection method to determine whether the system malfunctionde.and it's performed well when applicated.