Research On Applications Of Fault Detection And Diagnosis On Integrated Navigation System

The framework of modern voyage integrated navigation system turns to more complicated, it depends mainly on the computer system, though which information from exterior sensors can be disposed and optimized, moreover, it can also give the best position and gesture information of the ships by using Kalman Filter. Then the information can be used for campaign and radar systems. So, if the system has any failure, it will wreck the capability of the systems greatly. Therefore, the security and the reliability has become the main factor of weighing the stand or fall of INS.With the technique of Fault Detection and Diagnosis (FDD )having been used in INS, it improves the reliability of system, ensures the veracity of orientation; At the same time, Since the system adopts Fault Tolerant Controlling (FTC) , INS is improved by adding the redundancy, that is to say, even some parts of the system have any failure, the system can also fulfill the tasks as it always does.This paper aims at the computer system of INS, researching the methods of FDD from the theory and practice separately. Firstly, the history of FDD and its recent development are introduced briefly, the theory of INS is described, the failure mode of INS is analyzed, and x~2 test method on FDD in the field of INS is given, on this condition, it gives the FDD and FTC schemes aiming at the SINS/GPS/DVL systems, using the double state x~2 test to fulfill the experiment.Secondly, this paper is based on the Integrated Navigation Display & Control Console (INDCC) of our university, it focuses the detection on the faults of serial port, network and RAM, accomplishing the faults detecting solution of 1553B Network, Ethernet, CAN, the serial port and RAM. After using these method, the security and the reliability of the computer system of INDCC is raised accordingly.