An Autonomous Fault-tolerant Integrated Navigation Method Based on Inertial/Velocity and Distance Sensors in Vehicles
In order to achieve autonomous fault-tolerant navigation for vehicles in satellite signal rejection environ-ment,an integrated navigation method using a strapdown inertial navigation system and distance sensor is proposed.For the velocity sensor,a vehicle Doppler velocity radar is selected,and for the distance sensor,an odometer is selected.The error analysis and modeling of strapdown inertial navigation system,Doppler velocity radar and odometer are carried out respec-tively,and the state equation of the integrated navigation is established by taking the errors of the strapdown inertial naviga-tion system and others as states.The measurements of inertial/Doppler radar and inertial/odometer integrated navigation are respectively constructed by using the velocity and attitude output of strapdown inertial navigation system,the velocity output of Doppler velocity radar and the distance output of odometer,and the corresponding measurement equations are estab-lished.The federated filtering fault-tolerant structure is adopted to fuse the results of local filtering inertial/Doppler radar and inertial/odometer integrated navigation globally.The simulation results show that this method can not only achieve au-tonomous fault-tolerant navigation for vehicles,but also has high navigation accuracy.The positioning accuracy is better than 27.1 m without sensor failure,the heading accuracy is better than 5.6',and the horizontal attitude accuracy is better than 0.2',while the positioning accuracy is better than 49.6 m,the heading accuracy is better than 8.5',and the horizon-tal attitude accuracy is better than 0.3'in the event of a sensor failure.
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