南京理工大学学报（自然科学版）2017，Vol.41Issue(3)：269-277,9.DOI:10.14177/j.cnki.32-1397n.2017.41.03.001
采用无迹信息滤波的多传感器容错融合算法
Multi-sensor fault-tolerant fusion algorithm using unscented information filter
摘要
Abstract
A new multi-sensor fault-tolerant fusion algorithm is proposed for the poor accuracy of nonlinear data fusion systems and fault detection threshold selection problem.Unscented information filters are embedded into measurement subsystems,and the linearization error is avoided because the system need not be linearized.A fault detection algorithm based on fuzzy logic is designed.The subsystem validation probability is calculated using Chi-square test.Fault subsystems are isolated adaptively according to the validation probability of the subsystem,and the difficulty of selecting fault detection threshold is solved.The proposed algorithm is applied to a strap-down inertial navigation system/beidou2/global position system(SINS/BD2/GPS)integrated navigation system,and the simulation results show the availability.关键词
无迹信息滤波/多传感器/容错/数据融合/模糊逻辑/卡方检验Key words
unscented information filter/multi-sensor/fault tolerant/data fusion/fuzzy logic/Chi-square test分类
信息技术与安全科学引用本文复制引用
杨春,郭健,张磊,陈庆伟..采用无迹信息滤波的多传感器容错融合算法[J].南京理工大学学报（自然科学版）,2017,41(3):269-277,9.基金项目
国家自然科学基金(61673219 （）
61673217) （）
