Data Fusion Theory And Its Application In The Integrated Navigation System

To satisfy the requirement of modern aircraft to navigation system, this paper studies the key techniques of multi-sensor navigation system, such as data fusion and it's application to integrated navigation system, design and realization of federated filter, theory and algorithm of fault detection and isolation. Furthermore, it applies the methods to integrated navigation system with knowledge.Taking SINS/GPS/BD/TAN integrated navigation system as the object, it studies data fusion technology of federated filter, which provides an effective way to realize (?) performance of integrated navigation system in theory and practice.In this paper, federated filter theory is briefly introduced, four typical structures are introduced, and their characteristics of fault tolerance are analyzed. When precision and fault tolerance are took into account, no-feedback structure is the best. With the analyses of every subsystem, error models and methods how to integrate them are set up. And then, a centralized filter is designed. Simulation results show that it is effective to be applied to SINS/GPS/BD/TAN integrated navigation system.Based on the work above, a federated filter of SINS/GPS/BD/TAN integrated navigation system is built. Otherwize, it also studies fault detection and fault tolerant control of integrated navigation system. The fault detection usually adopts the design methods based on Kalman filter, the detection performance of which mainly depends on the sensitivity of remain difference to fault. This paper introduces the theory of two kinds of the chi-square test and proposes the scheme of fault detection and isolation that is suitable to engineering based on the simulation results of the SINS/GPS/BD/TAN integrated navigation system.