GNSS/INS TIGHTLY COUPLING SYSTEM INTEGRITY MONITORING BY ROBUST ESTIMATION

Shizhuang Wang ； Xingqun Zhan ； Weichuan Pan

《Journal of Aeronautics, Astronautics and Aviation》 50卷1期 Vol.50 No.1 (2018/03) Pp. 61-79

https://doi.org/10.6125/JoAAA.201803_50(1).06

摘要

Integrity monitoring of the GNSS/INS integrated system is of great importance for safety critical applications. An improved integrity monitoring method for GNSS/INS integrated system which is based on robust estimation is developed in this paper for the purpose of enhancing the ability of fault detection and exclusion. Complete algorithm of fault detection and exclusion based on multi hypotheses innovation separation is built in this paper. The robust estimation and the fault detection and exclusion algorithm are combined to improve the performance of both algorithms. The traditional methods are mostly troubled by the micro and slow growing faults because of the innovations' distortion caused by error tracking of the filter, which brings difficulties to fault detection and exclusion algorithm. Robust estimation is an effective way to reduce the effect of error tracking under micro and slow growing faults by reducing the effect of the faulty measurements and hence to provide more accurate innovations. By using robust estimation in GNSS/INS integrated system, the distortion of the innovations is obviously reduced and the ability of fault detection and exclusion is enhanced. The theoretical analysis and computer simulations prove the performance improvements based on the proposed method.

關鍵字

Robust estimation ； integrity monitoring ； tight coupling ； fault detection and exclusion ； slow growing faults