Design of intelligent fault-tolerant to passive underwater integrated navigation system
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To improve the navigation accuracy of autonomous underwater vehicle,an integrated navigation system was proposed,which was composed of strapdown inertial navigation system(SINS),terrain-aided navigation(TAN) system and gravity-aided navigation(GAN) system.A fault-tolerant federated Kalman filter was used to fuse the various navigation sensors,detect the system fault and reconstruct the navigation system.In view that traditional cai-square hypothesis testing processes fault detection cannot determine the specific cause of the fault,and could only determine the validity of measure information,a new fault detection algorithm based on neural network was adopted.The application on underwater integrated navigation system demonstrates that the algorithm can rapidly and accurately detecting and identify the faults in the system.Therefore the effective fault isolating can be performed to realize the fault tolerance navigation.Keywords:
Navigation System
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To improve filtering accuracy and data continuity,the design of fault-tolerant integrated navigation system based on inertial navigation system was proposed,which is integrating classical detection and isolation algorithm and federated Kalman filtering,and adopting fault diagnosis period approach to deal with system and outlier.Considering the carrier usage requirement,each navigation system usage scope and characteristics,the feasibility of the proposed design was analyzed by an actual INS/GPS/Doppler integrated navigation system example.The results show that the design can effectively realize detection,isolation and reconfiguration,and the whole navigation computing process keeps good algorithm continuity,stability and system accuracy.
Navigation System
Control reconfiguration
Scope (computer science)
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In order to improve the autonomy and accuracy of navigation, SINS /GPS/ SRS integrated navigation system is established. The combination of SRS and GPS navigation system can help to correct the error accumulation of SINS. On the premise of ensuring the accuracy and autonomy of the navigation system, the fault tolerance of the navigation system needs to be improved. Therefore, the fault diagnosis algorithm based on Mahalanobis distance is added to the SINS /GPS/SRS integrated navigation system. The simulation results show that the navigation system can get better performance.
Mahalanobis distance
Navigation System
Area navigation
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Considering the conventional federated filtering-based fault-tolerant integrated navigation system is difficult to be implemented by serial data processing circuits, this paper presents navigation switching strategy-based SINS/GPS/ADS/DVL fault-tolerant integrated navigation system to guarantee the reliability of integrated navigation system under sensor faults. When sensor failure appears, SINS and fault-free sensors are selected successively to form an integrated navigation system, such that reliable navigation parameters can be obtained. The simulation tests are implemented to verify that the SINS/GPS/ADS/DVL integrated navigation system can provide reliable navigation parameters when ADS and DVL are disabled.
Navigation System
Dead reckoning
Air navigation
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This article was designed SINS/GPS/OD integrated navigation systems that application of the train,Established the Federated Kalman filter model and the mathematical model of each sub-filter.This article combines the advantages of Federated Kalman filtering,applying the fault-tolerant filtering Technologies to improve the fault tolerance and reliability of the system.Finally,the simulation tests show that the integrated navigation system can provide accurate navigation parameters of running train.
Navigation System
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For satisfing the high accuracy and reliability of carrier navigation performance requirements, a design project for fault-tolerant integrated navigation system according to inertial navigation system was proposed, which integrating classical fault detection and federated kalman filtering and adopting dasiafault diagnosis periodpsila approach to deal with system fault and outlier differently. With the carrier usage request and each navigation system usage scope and characteristics, the feasibility of the proposed project was analyzed by an actual INS/GPS/Doppler integrated navigation system example. The result shows that the project could effectively realize fault detection, isolation and reconfiguration, and the whole navigation computing process keeps good algorithm continuity, stability and system accuracy.
Navigation System
Control reconfiguration
Scope (computer science)
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A stellar inertial navigation system/global position system/tactical navigation system fault tolerant integrated navigation system based on neural network is designed in this paper. The traditional Kalman filter is replaced by the neural network filter in each sub filter. Then the fuzzy neural network is used for detecting fault. The neurons are used for information fusion at last. The simulation results show that this approach is available.
Navigation System
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Research on scheme and algorithm of high-precision fault-tolerant integrated navigation for HALE UAV
To meet the need of high-precision navigation for HALE (high-altitude long-endurance) UAV (unmanned aerial vehicle), multi-sensor fault-tolerant autonomous navigation system was researched. For the shortcoming that the GPS signal is easily interfered by electromagnetic techniques, combining sundry integrated navigation patterns such as the INS/CNS integrated navigation, the INS/SAR (Synthetic Aperture Radar) integrated navigation, and other autonomous navigation system, the fault-tolerant federated filter scheme is proposed in this paper. This scheme can effectively take advantage of multi-sensor information redundancy. When the GPS system failure occurred, the system can effectively detect and isolate the corresponding failure subsystem, and at this time the INS/CNS integrated navigation system plays a leading role in the navigation system to maintain a certain degree of navigation accuracy. By importing the SAR-aided navigation system in the terminal, the system can achieve high-precision navigation positioning. The integrated navigation system can detecte failure in rapid speed, so it has a high application value in practical engineering. The simulation results by covariance analysis show that the proposed navigation scheme is feasible, and this navigation scheme has important theoretical reference value to improve accuracy and reliability of integrated navigation system for the HALE UAV.
Navigation System
Air navigation
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The role of the uav navigation system is to provide navigation data to the flight control computer for guidance and control. Any error in the navigation system may lead to the failure of the whole UAV. Therefore, the navigation system should have fault detection and isolation (FDI) algorithm. This paper studies a low-cost integrated navigation system with fault detection and isolation (FDI) for uav navigation. The hardware includes low-cost commercial MEMS, GPS receiver, magnetometer and navigation computer, and the software includes kalman filter with FDI algorithm. Through simulation experiments, it is verified that the system has certain practical value with faster convergence and smaller combination error after adopting FDI algorithm.
Navigation System
Isolation
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Isolation
Precise Point Positioning
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At present, integrated navigation systems are frequently used for the navigation in the space. Compared with single navigation, integrated navigation is improved in the functions, but the sensors in the system are more, the scale of the system is enlarged, and the probability of failure in the system is increased. Once the fault appears, the loss is more or less. So to ensure the liability of the system, some necessary effective steps are made for fault toleration. In other words, the fault toleration scheme is very important for high precision and liability of the navigation system. Fault detection and identification is the premise of fault toleration. Therefore a new integrated navigation system with a new fault detection and identification method called GPS(Global Positioning System)/3DR system is proposed in the paper. In terms of the characteristics and the most familiar fault types of navigation sensors, data of sensors at normal and fault are simulated in the paper. Based on the traditional navigation system, a new integrated navigation with a new fault detection and identification method is designed, and the system is verified by simulation. Finally by the comparison of the typical integrated navigation system and the new integrated navigation system, the conclusion that the new integrated navigation system is better than the typical one in three sides is achieved.
Navigation System
Identification
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