摘要
针对船用捷联惯性导航系统(SINS)、北斗(BD)、多普勒(DVL)和天文导航(CNS)信息更新频率不同以及可用性随环境动态改变的多源导航信息融合问题,提出基于增量平滑因子图的船用导航系统信息融合及容错算法。建立SINS、BD、DVL和CNS的量测因子节点模型,并通过利用所有时刻量测信息,以最大后验概率估计方法进行融合架构的构建;插入新的量测因子节点后,识别并更新受新量测因子影响的部分导航状态变量节点,利用因子图增量平滑算法计算导航状态的最大后验估计值;同时设计基于卡方检验的信息容错算法进行故障检测。数值仿真及半实物车载试验表明所提算法具有即插即用特性,能够实现不同信息更新频率导航设备的有效融合,融合精度与联邦滤波的定位精度相当;在导航设备发生故障后,所设计的容错算法能够有效识别并隔离故障。
Aiming at the multi-source navigation information fusion problems of marine strapdown inertial navigation system(SINS),Beidou(BD),Doppler velocity log(DVL)and celestial navigation(CNS)with different information update frequency and dynamic change of information availability with environment,an information fusion and fault tolerant algorithm for marine navigation system based on incremental smoothing factor graph is proposed.Firstly,the factorial node models of SINS,BD,DVL and CNS are established,and the fusion architecture is constructed by using the measurement information of all time and the maximum posterior probability estimation method.Then,after inserting new measurement factor nodes,some navigation state variable nodes affected by new measurement factors are identified and updated,and the maximum posteriori estimates of navigation state are calculated by factor graph increment smoothing algorithm.Finally,an information fault tolerant algorithm based on chi-square test is designed for fault detection.Numerical simulation and semi-physical vehicle test show that the proposed algorithm has plug-and-play characteristics and can realize effective fusion of navigation devices with different information update frequencies,and the fusion accuracy is equivalent to that of federated filter.The fault-tolerant algorithm can effectively identify and isolate the fault sensor when the navigation sensor fails.
作者
张崇猛
邓福建
杨涛
兰晓阳
ZHANG Chongmeng;DENG Fujian;YANG Tao;LAN Xiaoyang(Laboratory of Science and Technology on Marine Navigation and Control,CSSC,Tianjin 300131,China;Tianjin Navigation Instruments Research Institute,Tianjin 300131,China)
出处
《中国惯性技术学报》
EI
CSCD
北大核心
2020年第4期448-455,共8页
Journal of Chinese Inertial Technology
基金
装备预研船舶重工联合基金项目(6141B041001-11)
中船重工集团公司科技创新项目(2017K11)。
关键词
因子图
容错组合导航
联邦滤波
多源融合
factor graph
fault tolerant integrated navigation
federated filter
multi-sensor fusion
