为了提高捷联惯导系统与里程计组合导航系统在里程计发生故障后的导航性能,在传统的故障检测算法的基础上，考虑了车辆运动约束条件在陆地导航系统中的特点，设计了两层基于残差的卡方故障检测算法，推导了在里程计故障后的车辆约束量测构造与滤波方案。采用传统单层与两层故障检测算法对80 km 的车载导航数据进行了处理，试验证明，传统单层算法在里程计出现时长为2000 s 的输出故障后，定位无法再次收敛。两层故障检测算法在里程计出现故障后能够顺利完成导航任务，里程计故障期间位置导航精度与无故障时相比仅相差2 m，提高了里程计发生故障后的导航性能。% For the sake of improving the navigation performance of strapdown inertial navigation system and odometer integrated system when odometer breaks down, a two-layer residual error 2 detection algorithm was designed based on traditional fault detection algorithm and by considering the constraints of vehicle motion. The construction and filtering scheme of vehicle constraints’s observation after odometer breaks down were deduced. An 80 km vehicle navigation test’s data was treated with traditional algorithm and two-layer detection algorithm respectively. The results verify that the positioning error of single-layer algorithm will not converge after odometer breaks down for 2000 s, and the two layer fault detection algorithm can succeed in the whole navigation task. During the odometer breaks down, the positioning error is only 2 m worse than that under no failure condition. When with break down odometer, the navigation performance by 2-layer fault detection algorithm is significantly higher than that by traditional algorithm.
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