Correlative Study On Fault Diagnosis And Fault Tolerance Of Integrated Navigation System

Integrated navigation is an important way of navigation technology development nowadays, it integrates diversified navigation equipments which were used solely in the past by microcomputer, exerts everyone's specialty and advantages, avoids disadvantages, and it uses data process methods such as Kalman filter, so it makes the navigating ability, precision, reliability and automation extent of the whole system enhance a lot. Integrated navigation system (INS) is responsible for ship navigating, orientating and posture control, important duty reliability of it that posture control concern security and accuracy that orientate that naval vessel sail seriously, therefore reliability of it pay close attention to the thing and research more and more. The technique of Fault Detection (FD) and Fault Tolerant (FT) as important means raising systematic security and reliability causes people's attention day by day, become another main content after analyzing and synthesizing of the control theory, so the research of FD and FT on integrated navigation system is significant.This paper studies SINS/GPS/DVL integrated navigation system whose emphases is Kalman Filter, designed a Fault Tolerant integrated navigation system that adopted neural network information fusion based on Carlson's Federation Filter. Not only brings forward the means of detection and diagnosis within the familiar faults of navigation equipments, but also insures the well-balanced working of system that is not affected by fault, and ensures a certain degree of precision, enhances the reliability of system greatly.At last, the paper validates the theory of Kalman filter and fault tolerance by the soft of integrated navigation system.