Fault Detection And Isolation Method For Redundant Inertial Navigation System Based On GLT

The present stage of our country's coastal defense to the open sea cruise strategy evolution have put forward higher requirements for all kinds of surface and underwater ship inertial navigation system in accuracy and reliability.Redundancy technology levels through the system or device redundancy is the most effective way to improve reliability of ship inertial navigation system.Among them,the device level redundancy methods according to certain way,installs various inertial components together,repeats measurement information system reliability and improves the navigation precision,and can avoid the system level redundancy greatly increase the cost and weight problems.To reduce the traditional single point of failure detection rate of false alarm and the miss rate,this paper is suitable for redundant type in the field of marine strap down inertial navigation system through the design more fault detection algorithm.It is based on GLT,improvement of redundant strap down inertial navigation system failure detection and isolation performance,fault detection and isolation performance verification to achieve the goal of improved algorithm applicability.The article first talk about the inertial navigation system based on the analysis of the basic principle and the error characteristics,from the system of accuracy and reliability,demonstrate the device redundancy technology improve the system reliability and accuracy of superiority,and established the indicators which was deduced by the theory of redundancy inertial navigation performance measurement.To determine the existing fault detection method,we have to compare the advantages and disadvantages.Secondly,considering the fault detection method of the false alarm rate and the residual rate of two indicators,designing the multipoint fault detection method based on the GLT and from the configuration of components,and selecting the suitable redundant inertial navigation system solutions in the field of marine as the authentication model than those of the single monitoring solutions with multi-point detection false alarm condition and residual show different redundancy scheme using multi-point test to complete the superiority of fault detection.At the completion of multipoint testing plan design and validation,the basis of the thesis design deals with the redundant inertial navigation system on the fault of the management which affects the performance verification method.Through the simulation we explore the fault threshold and gyro fault amplitude that affect the performance of the management.Finally,for the redundancy system consisting of four gyro,GLT method can only detect the fault and not to isolate faults,so the linear estimation method is proposed for the fault isolation.Through the simulation it prove that this method can isolate for gyro redundancy system failure.