Inertia-based Fault-tolerant Integrated Navigation System Design Theory

This dissertation researched on integrated navigation system of multi-source information. So a series of key technologies which are high-precision SINS algorithms, designing of high-precision integrated navigation system, information fusion, designing of federated filters based on robust filtering, fault tolerant design and so on, on system design of high-precision fault-tolerant integrated navigation system (HSINS) based on strap-down inertial navigation system (SINS) ought to be researched. The main work done in this dissertation is as follows:1. The error model and the high-precision algorithms of SINS are researched. The SINS error model is derived, the SINS error propagation equations including quantization error are derived by means of analyzing quantization error of gyroscope and accelerometer. The SINS attitude, velocity and position updating algorithms are derived. The algorithms and its optimization of the coning, sculling and scrolling terms are derived. The SINS algorithms are validated by simulation.2. Information fusion for integrated navigation system of multi-source based on SINS is researched. The error models of GPS, Radio determination Satellite Service (RDSS), Loran-C (LC) and velocity- measuring Doppler system (DVS) are made. The local feedback compensation FKF is presented. The structure of the local feedback compensation FKF is made and then the information fusion algorithm and local feedback compensation Kalman filter of the local feedback compensation FKF are derived. The local feedback compensation FKF of SINS/GPS/RDSS/LC/DVS HSINS is designed and simulation is done.3. A self-adaptive Kalman filtering algorithm based on the maximum likelihood estimation criterion and application of the self-adaptive filtering on integrated navigation system are researched. At first the self-adaptive Kalman filtering was introduced, the algorithm's characteristic is that the variance matrix of system noise and measurement noise can be estimated in real-time using the algorithm. Thus, this self-adaptive filtering algorithm will be more efficiently adapted to the change of system model. The no-reset federated filters of SINS/GPS/RDSS/LC/DVS HSINS based on the self-adaptive filtering is designed and simulation is done.4. H_∞ filtering algorithm and application of the H_∞ filtering on integrated navigation system are researched. To solve the problem that the system's parameter and noise statistics characteristics are uncertain, an H_∞ sub-optimal robust filter is proposed, and the existing condition and form of the filter are analyzed. Last, the local feedback compensation no-reset federated filters of SINS/GPS/RDSS/LC/DVS...