一种基于卡方检验的鲁棒卡尔曼滤波器的鲁棒惯性导航系统/卫星无线电定位系统/组合导航系统

A Robust INS/SRS/CNS Integrated Navigation System with the Chi-Square Test-Based Robust Kalman Filter.

作者信息

Gao Guangle, Gao Shesheng, Hong Genyuan, Peng Xu, Yu Tian

机构信息

School of Automation, Northwestern Polytechnical University, Xi'an 710072, China.

Research & Development Institute, Northwestern Polytechnical University, Shenzhen 518057, China.

出版信息

Sensors (Basel). 2020 Oct 19;20(20):5909. doi: 10.3390/s20205909.

DOI:10.3390/s20205909

PMID:33086757

原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC7588989/

Abstract

In order to achieve a highly autonomous and reliable navigation system for aerial vehicles that involves the spectral redshift navigation system (SRS), the inertial navigation (INS)/spectral redshift navigation (SRS)/celestial navigation (CNS) integrated system is designed and the spectral-redshift-based velocity measurement equation in the INS/SRS/CNS system is derived. Furthermore, a new chi-square test-based robust Kalman filter (CSTRKF) is also proposed in order to improve the robustness of the INS/SRS/CNS navigation system. In the CSTRKF, the chi-square test (CST) not only detects measurements with outliers and in non-Gaussian distributions, but also estimates the statistical characteristics of measurement noise. Finally, the results of our simulations indicate that the INS/SRS/CNS integrated navigation system with the CSTRKF possesses strong robustness and high reliability.

摘要

为了实现涉及光谱红移导航系统（SRS）的飞行器高度自主且可靠的导航系统，设计了惯性导航（INS）/光谱红移导航（SRS）/天文导航（CNS）集成系统，并推导了INS/SRS/CNS系统中基于光谱红移的速度测量方程。此外，还提出了一种基于卡方检验的新型鲁棒卡尔曼滤波器（CSTRKF），以提高INS/SRS/CNS导航系统的鲁棒性。在CSTRKF中，卡方检验（CST）不仅能检测出具有异常值和非高斯分布的测量值，还能估计测量噪声的统计特性。最后，我们的仿真结果表明，采用CSTRKF的INS/SRS/CNS组合导航系统具有很强的鲁棒性和高可靠性。