Fault Detection and Isolation for Redundant Inertial Navigation System Based on Asymmetric Precision
Xuan Xiao, Jianrui Lu · 2021
For the redundant inertial navigation system (RINS) equipped by MEMS-based and FOG-based inertial navigation system (INS), a system architecture and fusion method will be introduced based on sequential Sage-Husa filter in this paper. The sequential probability ratio test (SPRT) utilizes piecewise method is employed for the fault detection program, the velocity numerical differentiation of each set of INS is considered in the fault diagnosis scheme. Simulations are conducted by adding soft and hard failures into the gyro of three axes of each set of INS with different values separately. Results show that there is a 2.42% improvement on positioning accuracy, the fault detection, diagnosis and isolation algorithm in this paper can detect failures correctly without false alarm under a short delay.