Autonomous Integrity Monitoring Method for Multi-source Fusion Navigation Based on MHSS-PCA
The multi-source fusion navigation system is prone to faults in practical applications,which can degrade the system's positioning performance.To enhance the reliability of the multi-source fusion navigation system and prevent faults from compromising navigation performance,an autonomous integrity monitoring method for multi-source fusion naviga-tion based on MHSS-PCA is proposed.Firstly,according to the subsystem composition in the multi-source fusion navigation system,a fault detection method based on MHSS-PCA is constructed using the KF-LS approach,which detects and isolates faulty navigation sources.Secondly,a parallel w-detection method is used to establish a recovery verification mechanism,ensuring that once faulty navigation sources are restored,they can be reintegrated into the fusion calculation.Finally,based on the effective navigation sources in the system,a dynamic allocation criterion for integrity risk is established to cal-culate the system protection level in real time,achieving integrity assessment and alarming.In the marine scenario,simula-tion tests are conducted using real-time trajectory data.The test results show that the fault detection method based on MH-SS-PCA effectively detects faulty navigation sources,with bias fault detection within 1 s and gradual fault detection within 6.5 s.Through the recovery verification mechanism,once the navigation source is restored,it is reintegrated into the fusion calculation within 3 s,thereby improving the reliability of the multi-source fusion navigation system.
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