Online fault detection and repair method and system for multi-navigation sensor system

• Main Authors: CHEN WEI, JIANG SHAN, QIAN MENGHAO, SUN RUISHENG, YOU RUNYI, CAO JIARONG
• Format: Patent
• Language: Chinese; English
• Published: 30.01.2024
• Subjects: CALCULATING; COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS; COMPUTING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

The invention discloses an online fault detection and repair method and system for a multi-navigation-sensor system, and the method comprises the steps: constructing an online fault detection and repair model for the multi-navigation-sensor system based on a plurality of navigation sensors; key algorithms such as multi-type and multi-scale fault joint detection, adaptive robust filtering under a non-slowly varying fault, a redundancy information acquisition and redundancy measurement voting method under a slowly varying fault, an online fault intelligent prediction method based on a time sequence and the like are researched; a fault detection and information fusion scheme under the condition that the output information frequencies of all navigation sensors are inconsistent is designed, and meanwhile, numerical simulation verification and sports car test verification results of the full-source navigation system online fault detection and repair method are given. According to the method, detection and identific