Fault-tolerance filtering of TT&C ship's INS/GPS/DVL integrated navigation
Feng Hong-kui · Journal of Chinese Inertial Technology · 2006
It is fundamental for TTC (Tracking, Telemetry and Controlling) ship's INS/GPS/DVL integrated navigation system to be fault-tolerant. Based on the architecture of improved No-Reset Kalman Filter and the concept of Federated Kalman Filter, a method was designed which could use residual chi-square test to effectively detect and isolate the failure in the integrated navigation. The simulation result shows that, for the INS/GPS system's abrupt changing and gradual changing fault, the time of detecting and reconfiguration is 6.12 s; and for the INS/DVL system's abrupt changing fault of velocity, the time of detecting and reconfiguration is 1.08 s. This method insures the robust and high precision of federated filter.