Fuzzy parity equation based fault diagnosis approach for PL/INS navigation system
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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.
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关键词:
- 伪卫星惯性导航组合导航系统 /
- T-S模糊模型 /
- 模糊奇偶方程 /
- 多故障诊断
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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