Multi-source Fault Tolerant Integrated Navigation for a Certain UAV Based on INS/BD/RP/TAN

In order to make up for the shortcomings of a single navigation system, an INS/BD/RP/TAN multi-source fault-tolerant integrated navigation system based on federated filter is constructed in this paper. Based on the analysis of the error characteristics of each navigation subsystem, the state equations and measurement equations corresponding to each subsystem are established, and an adaptive federated filtering algorithm based on optimization information distribution factor is proposed. At the same time, an improved residual χ
²
fault detection algorithm is proposed for the faults in the integrated navigation system, which solves the insufficient sensitivity problem of the residual χ
²
detection algorithm for slope fault detection effectively. Finally, the simulation analysis shows that the fault-tolerant integrated navigation system designed in this paper can not only provide high-precision navigation information for the UAV's navigation system for a long time under no-fault conditions, but also isolate the faulty system timely when the fault occurs, so that the entire integrated navigation system can still provide reliable navigation information.