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随着GPS/SINS组合导航系统应用领域的拓展,GPS完好性问题越来越受到关注。为快速有效地检测隔离GPS卫星慢变故障,提出一种层次滤波器结构,采用伪距量测的滤波算法,基于该结构完成了SINS/GPS组合导航算法和故障检测隔离算法的设计。以4颗星为例,仿真验证该方案不仅可以准确检测隔离慢变故障,而且可以使用未受故障卫星污染的滤波器继续进行导航解算。
With the development of GPS / SINS integrated navigation system applications, GPS integrity issues are receiving more and more attention. In order to detect the slow-moving fault of isolated GPS satellites quickly and effectively, a hierarchical filter structure is proposed, which uses the filtering algorithm of pseudo-range measurement. Based on this structure, SINS / GPS integrated navigation algorithm and fault detection isolation algorithm are designed. Taking 4 stars as an example, this scheme not only can accurately detect slow isolation faults, but also can use the filter not polluted by faulty satellites to continue the navigation solution.