一种惯性辅助GPS接收机的完好性增强算法

摘要

GPS satellite failure must be detected and isolated before they influence the integrated system. Integrity is a critical performance index of SINS/GPS integrated navigation system. For SINS/GPS tightly integrated navigation system, rapid detection and isolation of satellite failure are realized respectively with innovation extrapolation method and filter level configuration. Compared to innovation detection method, the simulation results show that the innovation extrapolation method can detect slowly growing errors (SGEs) more quickly, but with lower detecting sensitive to step failure. Finally tfailure isolating was realized by filter level configuration.%　　当GPS卫星存在故障时，必须在故障污染系统之前将其检测并隔离，因此完好性是SINS/GPS组合系统的一个重要性能指标。针对SINS/GPS紧耦合系统，利用新息外推法和层次滤波器结构，分别实现卫星故障的快速检测和隔离。通过与新息检测法进行对比仿真表明，新息外推法比新息检测法能更快地检测慢变故障，但对阶跃故障检测的灵敏度没有新息检测法高，最后采用层次滤波器结构实现故障隔离。