Abstract:

In order to take full advantage of federated filter in faulttolerant
design of integrated navigation system, the limitation of
fault detection algorithm for gradual changing fault detection and
the poor fault tolerance of global optimal fusion algorithm are the
key problems to deal with. Based on theoretical analysis of the
influencing factors of federated filtering fault tolerance, global faulttolerant
fusion algorithm and information sharing algorithm are
proposed based on fuzzy assessment. It achieves intelligent faulttolerant
structure with two-stage and feedback, including real-time
fault detection in sub-filters, and fault-tolerant fusion and information
sharing in main filter. The simulation results demonstrate that
the algorithm can effectively improve fault-tolerant ability and ensure
relatively high positioning precision of integrated navigation
system when a subsystem having gradual changing fault.