The fault diagnosis method of integrated navigation system based on covariance intersection filtering
Changhua Liu, Yajun Xu · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2012
Sensors are important parts of the navigation system. The decentralized filtering for sensor fault tolerance has great significance for improving system reliability. The method combining federated filtering and covariance intersection filtering is adopted to achieve the decentralized filtering of sensor fault tolerance, and the navigation accuracy and tolerance are analyzed. The simulation results indicate that the implementation of decentralized filtering on integrated navigation system that composed of multi sensors can bring the benefits of high accuracy and improve the system capability of fault tolerance due to the information redundancy. Thus, more completed and accurate navigation information about the movable sensor carrier can be provided.