A fault-tolerant scheme for SINS in-motion alignment based on federal structure

In this paper, a novel scheme for SINS in-motion alignment based on federal structure is proposed to accomplish the alignment against faults. To ensure the validity of alignment if the fault occurs, this paper takes advantage of three auxiliary alignment systems referring to Global Positioning System (GPS), odometer (OD) and BeiDou-2 (BD2) to build the federal model of alignment. Besides, the extension of double states chi-square detection is beneficial to establish the fault detection algorithm to detect the abrupt and slow-varying faults of each subsystem exactly. With the fault detection value, the information factor could be distributed so that the federal fault-tolerant scheme is optimized to decrease the effect on the subsystem with the faults and reset the normal subsystem effectively. The simulation on the moving base demonstrates that the proposed scheme is effective on the condition of one or more subsystems suffering from the fault.