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Adaptive fault tolerance federated filter method for SINS / GNSS / CNS integrated navigation
| Content Provider | Semantic Scholar |
|---|---|
| Author | Chuang, Zhang Xiu-Bin, Zhao Chun-Lei, Pang Bo, Feng Chao, Gao |
| Copyright Year | 2019 |
| Abstract | The gradual fault that occurs on the subsystem will have a bad influence on the accuracy of federated filter. To solve this problem, the influence of information sharing factor on the robustness and accuracy of local filters, the accuracy of global estimation, and the fault detection rate is investigated. On this basis, an adaptive fault tolerance federated filter scheme is presented. First, the measurement noise covariance matrix is adjusted adaptively to reduce the influence of missed detection fault on the faulty sub-filter and global estimation, which can improve the precision of normal sub-filter and the reconstruction ability of system in return. Then, the information sharing factor is adjusted dynamically basing on the fault detection function to further improve the fault detection performance. The simulation results show that, when compared with the traditional fault tolerance federated filter, this method can reduce the influence of fault on filter accuracy effectively, and has better global accuracy. |
| File Format | PDF HTM / HTML |
| Alternate Webpage(s) | http://jcta.alljournals.ac.cn/cta_cn/ch/reader/create_pdf.aspx?file_no=CCTA180482&flag=1&journal_id=cta_cn&year_id=2019 |
| Language | English |
| Access Restriction | Open |
| Content Type | Text |
| Resource Type | Article |
