Abstract
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.
Highlights
The navigation systems commonly used on aircraft include strapdown inertial navigation system (SINS), global satellite navigation system, and Doppler navigation system
Navigation technology mainly provides direction, position, speed, time, and other information for the motion carrier, which has been widely used in vehicle, ship, airliner, and other civil fields, and missile, aerospace, and other military fields, and is an important national information and strategic resource
In [2], an improved adaptive Kalman filter method for GPS signal misalignment is proposed, which solved the problem of serious discrepancy between the innovation covariance and the actual situation
Summary
The navigation systems commonly used on aircraft include strapdown inertial navigation system (SINS), global satellite navigation system, and Doppler navigation system. In [13], an integrated navigation system based on SINS/GPS/DVL by using a Kalman filter is proposed, which reduced the calculation time and enhanced the faulttolerant performance of the system. [18] proposed a robust fault-tolerant federated filter for SINS/GNSS/CNS/DVL integrated navigation. 3000 s ~3120 s ADS, DVL Hard fault 5000‐h(m) an integrated fault-tolerant system based on navigation switching strategy is proposed in this paper, such that the reliability of SINS/GPS/ADS/DVL integrated navigation system is improved. 2. Navigation Switching Strategy of SINS/GPS/ADS/DVL Fault-Tolerant Integrated Navigation System. When the error data provided by GPS due to fault or the number of observable satellites (less than 4) cannot work, it is switched to SINS/ADS integrated navigation mode. Continue to judge the working status of GPS, ADS, and DVL in real-time and compare the difference between GPS, ADS, and DVL and INS measurement sequence in real-time
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