Research On The Fault Detection And Exclusion Technology Of Deep Coupled Based On Vector Tracking

As people increasingly rely on navigation and positioning services,the reliability of navigation systems has attracted more and more attention.GNSS receivers are susceptible to external interference.Multipath effects in signal propagation,complex electromagnetic interference environments in cities,and human deception may all cause navigation system failures.Therefore,a series of related technologies are needed to overcome receiver interference and improve receiver reliability.This article relates to the fault detection and isolation technology of GNSS/INS vector deep integrated navigation receiver and its integrity.The main technologies covered are as follows: Integrity,also known as completeness or integrity,refers to when GNSS cannot meet current navigation applications The ability to proactively alert when required is an indicator of GNSS performance;fault detection and isolation technology is a method to improve the integrity of GNSS.This technology can be used in the entire navigation satellite system or in a single GNSS In the receiver;vector tracking technology means that the receiver uses the positioning result to track the pseudo code and carrier phase to form a "large loop" instead of the traditional phase-locked loop and frequency-locked loop tracking;integrated navigation technology refers to more Combination of various types of navigation methods.Research focused on the application of the above technologies,realized and verified the performance of the GNSS/INS deep integrated navigation system under the vector tracking architecture,and applied the receiver-level integrity method to the vector deep integrated system.The specific contents include:First,use the Kalman Filter(KF)to track the carrier phase of the satellite signal.The Kalman filter tracking model based on the satellite signal carrier phase is studied,the engineering algorithm of the Kalman filter pre-filter is realized,and the tracking performance of the Kalman filter loop in the orbital environment is verified.Second,on the basis of the first point,the residual detection method is used,that is,the residual of the Kalman filter is used to realize the fault detection and isolation of the tracking channel and the vector tracking.The first part analyzes the residual distribution of the Kalman pre-filter in the channel,and uses the characteristics of its normal distribution to design a reasonable detection algorithm,and finally simulates the occurrence of the fault through the experiment.The second part explains the residual of the navigation Kalman filter,discusses the vector tracking lock detection,and uses the position-related residual or covariance matrix(distance variance)to detect and isolate the vector tracking loop before positioning.Finally,it was verified by three sets of experiments.Third,in the GNSS/INS vector deep integrated navigation receiver architecture,the residual detection method is applied to the research of fault detection and isolation.Since the deep integrated system integrates the inertial navigation system(INS)and has a similar model to the GNSS vector tracking,the residual detection method is easy to implement in the deep integrated system and has efficient detection capabilities.Finally,the practicability is verified through the on-board integrated navigation experiment.