微型平台组合导航信息分配新方法

摘要：针对微型平台组合导航系统，在分析以往的信息分配方法的基础上，提出了一种新的信息分配方法。利用阈值构造了故障概率计算公式，按照各个子系统故障概率进行信息分配。设计了IMU、GPS、ADS及超声波构成的组合导航系统，在新的信息分配方法下进行仿真。实验表明：该方法在子系统出现故障时能有效提高系统的容错性能，并改善导航精度。并且采用在线调整阈值的方法能够很好的降低误报率和漏报率。

A new method of information-sharing in micro-platform integrated navigation system

Abstract: On the basis of analyzing the former methods of information sharing, this paper proposed a new information sharing method based on micro-platform integrated navigation system. A formula of fallibility probability is constructed using the threshold value. The information factor for each local filter is adjusted according to the fallibility probability in its own corresponding subsystem. Meanwhile, the method of adjusting the threshold value on line can reduce the probability of the false alarm and missing alarm in the FDI (Failure Diagnosis and Isolation) process. The simulation experiment shows that this method can effectively reduce the computation load and improve the precision of integrated navigation system.