| 非线性容错滤波在基于磁强计自主导航中的应用 |
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| 引用本文： | 荣思远,穆荣军,崔乃刚.非线性容错滤波在基于磁强计自主导航中的应用[J].北京理工大学学报,2006,26(4):334-337. |
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| 作者姓名： | 荣思远 穆荣军 崔乃刚 |
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| 作者单位： | 哈尔滨工业大学,航天工程系,黑龙江,哈尔滨,150001;哈尔滨工业大学,航天工程系,黑龙江,哈尔滨,150001;哈尔滨工业大学,航天工程系,黑龙江,哈尔滨,150001 |
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| 摘 要： | 地磁场矢量是卫星的位置函数,利用三轴磁强计的测量信息可实现近地卫星的自主导航.当测量值存在野值时,滤波收敛变慢甚至发散.采用基于残差正交性质的EKF容错滤波方法,实现了野值的即时修正和故障诊断,使滤波器具有较强的鲁棒性.仿真结果表明该方法行之有效.
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| 关 键 词： | 容错滤波 磁强计 自主导航 扩展卡尔曼滤波 |
| 文章编号： | 1001-0645（2006）04-0334-05 |
| 收稿时间： | 2005-07-07 |
| 修稿时间： | 2005-07-07 |
Nonlinear Fault Tolerant Filtering Application Based on Magnetometer in Autonomous Navigation |
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| RONG Si-yuan,MU Rong-jun and CUI Nai-gang.Nonlinear Fault Tolerant Filtering Application Based on Magnetometer in Autonomous Navigation[J].Journal of Beijing Institute of Technology(Natural Science Edition),2006,26(4):334-337. |
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| Authors: | RONG Si-yuan MU Rong-jun and CUI Nai-gang |
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| Institution: | Department of Astronautical Engineering, Harbin Institute of Technology, Harbin, Heilongjiang 150001, China |
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| Abstract: | Magnetic flied vector is a function of the satellite's position.Autonomous LEO satellite navigation can be achieved based on the measurement data are of the onboard three axis magnetometer(TAM).But when measurement data influenced by outliers,filtering convergence velocity becomes slow and the filter even diverges. In this paper,based on residual orthogonal EKF fault tolerant filtering method,the instant modifying and fault diagnosis of the wild data are implemented and the filter possesses good robustness.Simulation results show the effectiveness of the method. |
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| Keywords: | fault tolerant filtering autonomous navigation magnetometer extended Kalman filter |
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