gyroscopyГироскопия и навигацияGiroskopiya i Navigatsiya0869-70352075-0927AO «Концерн «ЦНИИ «Электроприбор»gyroscopy-576Research ArticleСтатьиАнализ характеристик федеративного фильтра при комплексировании сигналов РЛС, системы навигации по рельефу местности, GPS и ИНСМайерА.

Майер Андреас, дипломированный инженер, аспирант.

 

КизельC.

Кизель Cтефан, дипломированный инженер, аспирант.

ТроммерГ. Ф.

Троммер Герт Ф., профессор, д.т.н., руководитель института оптимизации, декан факультета электротехники и информационной техники. Действительный член общественного объединения «Академия навигации и управления движением».

Технологический институт Карлсруэ (Институт оптимизации систем)

Технологический институт Карлсруэ (Институт оптимизации систем)Germany2011200320261931224Copyright © Майер А., Кизель C., Троммер Г., 20262026Майер А., Кизель C., Троммер Г.Майер А., Кизель C., Троммер Г.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.gyroscopy.ru/jour/article/view/576

Анализируется основанная на использовании федеративного фильтра без перезапуска децентрализованная схема комплексной обработки данных глобальной системы позиционирования (GPS), радиолокатора с синтезированной апертурой (РСА), системы навигации по рельефу местности (НРМ) и инерциальной навигационной системы (ИНС). Представлена простая модификация такого фильтра. Приводятся результаты моделирования, иллюстрирующие эффективность предложенного алгоритма. Статья по докладу на XVII Санкт-Петербургской международной конференции по интегрированным навигационным системам.

Decentralized integration of global positioning system (GPS), synthetic aperture radar (SAR), and terrain referenced navigation (TRN) system into an inertial navigation system (INS) is analysed in comparison to the centralized integration method in this paper. Many publications have shown different decentralized integration methods. The main advantage of the decentralized filter architecture is flexibility and modularity. Especially the federated no-reset filter has received considerable attention in literature because of improved fault detection and isolation (FDI) capability, which is an important feature in multi-sensor navigation systems. Fault detection capability of the federated no-reset filter is well-established. How- ever, this filter type combines sensor data in a suboptimal way and a loss of accuracy compared to the centralized Kalman filter is generally observed. Other publications mentioned this loss of accuracy, but did not give the amount of accuracy loss for SAR/TRN/GPS/INS systems.

In this paper additionally a slight modification of the federated filter is presented. Typically a GPS/INS filter tends to be overoptimistic due to long-term time- correlated atmospheric errors of the GPS pseudo-range measurements. A rather simple modification of the federated filter is given to take into account this overoptimistic behaviour. A covariance correction yields a more reasonable covariance of the GPS/INS local filter and an improved overall position estimation of the federated filter.

 

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The authors declare that there are no conflicts of interest present.