基于联邦滤波器的多传感器故障检测隔离算法

Multi-Sensor Fault Detection and Isolation Algorithm Based on Federated Filter

摘要: 针对多传感器系统的故障检测与隔离问题，以联邦滤波结构为基础，设计了一种INS/GNSS/视觉组合导航系统，并针对系统可能出现的传感器数据软故障及硬故障，采用残差2算法与改进SPRT(序贯概率比检验)算法结合，对滤波残差进行故障检测，发现故障后将故障相关子滤波器进行隔离，重新构建滤波系统，将重构系统的滤波结果作为下一时刻的滤波初值。仿真结果表明，该方法能够在子滤波器发生故障时及时检测并对故障部分进行隔离，完成系统重构，在一定程度上保证系统的定位精度，提升系统的可靠性。

Abstract: Aiming at the problem of multi-sensor system fault detection and isolation, an INS/GNSS/vision integrated navigation system is designed based on federated filter structure. In view of the soft fault and hard fault of the sensor data that may appear in the system, the residual Chi-square test algorithm and SPRT (sequential probability ratio test) algorithm are combined to detect the resi-dual error of the filter. The fault correlation sub filter is isolated after finding faults, and the filtering system is reconstructed, and the filtering result of the reconstructed system is used as the initial filtering value of the next time. The simulation results show that this method can detect the fault in time, isolate the fault part and complete the system reconfiguration, ensure the positioning accuracy of the system and improve the reliability of the system to some extent.