北京航空航天大学学报 ›› 2011, Vol. 37 ›› Issue (6): 748-752.

• 论文 • 上一篇    下一篇

基于模糊奇偶方程的PL/INS导航系统故障诊断

靳星1, 宋华1, 邱红专1, 王养柱2   

  1. 1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191;
    2. 北京航空航天大学 无人驾驶飞行器设计研究所, 北京 100191
  • 收稿日期:2010-03-16 出版日期:2011-06-30 发布日期:2011-07-05
  • 作者简介:靳 星(1984-),男,河北文安人,硕士生, jinxingbuaa@gmail.com.

Fuzzy parity equation based fault diagnosis approach for PL/INS navigation system

Jin Xing1, Song Hua1, Qiu Hongzhuan1, Wang Yangzhu2   

  1. 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2010-03-16 Online:2011-06-30 Published:2011-07-05

摘要: 提出了一种伪卫星(PL, Pseudolite)/惯性导航(INS, Inertial Navigation System)组合导航系统多故障识别方法.分析了PL的常见故障及其数学模型,采用模糊奇偶方程方法对PL的常见故障进行诊断、隔离和参数识别.采用Takagi-Sugeno(T-S)模糊模型描述PL/INS组合导航系统,对于局部线性化模型建立全解耦奇偶方程,并对奇偶方程的残差进行融合,得到全局残差.结合残差利用卡尔曼滤波进行故障参数识别,给出了参数识别的约束条件.仿真结果表明:针对导航系统中多个PL信号同时发生多种故障的情况,此方法能有效检测故障,并能准确识别出故障模型参数.

Abstract: A method for multiple faults identification for pseudolite (PL)/ inertial navigation system (INS) tightly coupled navigation system was presented. The failures associated with PL and their modes were analyzed, what is more, fuzzy parity equations were used to identify the PL failure modes. First of all, the PL/INS tightly coupled navigation system was described by a Takagi-Sugeno (T-S) fuzzy model, and then the full de-coupled parity equations were applied to the local linear models. The faults can be detected by the sum of the local residuals and Kalman filter algorithm was used for identifying the parameters of failure modes. Besides, the necessary conditions for parameter identification were given. The simulation results show that, in case of multiple signal faults and multiple types of fault in PL simultaneously, this method can effectively detect them and precisely identify the parameters of failure modes.

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