Fault Tolerant Research for SINS/GPS/DVL Integrated Navigation System
Jie Cao · Journal of Chinese Inertial Technology · 2003
Based on the characteristics of subsystems of SINS/GPS/DVL integrated navigation system, a new fault tolerant scheme is provided, which uses parallel filters that can provide an uncorrupted optimal solution. It also has the advantages of good fault tolerance with hot-backup filters running at all times. The simulation results demonstrate that this scheme can not only detect and isolate system fault effectively, but also ensure the system accuracy.