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Abstract
An Improved Residual Chi-Square Test Fault Isolation Approach in Four-Gyro SINS
Highlights
As the most common navigation system, strapdown inertial navigation system (SINS) can provide attitude, velocity and position of a vehicle, such as a ship, a spacecraft and an aircraft [1]
The gyros’ outputs can be described as follows: ωbib = ωbib + δωbib where b denotes the SINS’s body frame. ωbib represents practical angular velocity. δωbib is the noise of gyro, which can be obtained from experiment in semi-physical simulation. ωbib is the true angular velocity, which is from simulation in semiphysical simulation
Simulations show that when angular velocity is provided by star sensor, separate residual chi-square test fault isolation approach can isolate a hard fault in four-gyro SINS
Summary
As the most common navigation system, SINS can provide attitude, velocity and position of a vehicle, such as a ship, a spacecraft and an aircraft [1]. Faulty gyro can be detected and isolated through comparison between gyro outputs and angular velocity from star sensor [33], [34].This FI approach is applied in SINS, it cannot be used in redundant SINS when considering errors of sensors. With the aid of star sensors, an improved residual chi-square test fault isolation approach improves the VOLUME 7, 2019 thought of residual chi-square test, which has been widely applied to detect a fault for integrated navigation system (INS) [35], [36] This approach first modifies the model of GLT considering the errors of inertial sensors, and redesigns a residual vector generated by gyros and star sensors for four-gyro SINS.
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