Fault tolerant SINS/GPS/SRS Navigation System with a Mahalanobis distance-based FKF
Genyuan Hong, Sheshen Gao, Guangle Gao · 2020
In order to improve the autonomy and accuracy of navigation, SINS /GPS/ SRS integrated navigation system is established. The combination of SRS and GPS navigation system can help to correct the error accumulation of SINS. On the premise of ensuring the accuracy and autonomy of the navigation system, the fault tolerance of the navigation system needs to be improved. Therefore, the fault diagnosis algorithm based on Mahalanobis distance is added to the SINS /GPS/SRS integrated navigation system. The simulation results show that the navigation system can get better performance.