Fault tolerance technology on INS/GNSS/ODO embedded system
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摘要: 车载低成本嵌入式组合导航系统的可靠性容易受到多种传感器故障和环境的影响，基于全球卫星导航系统(GNSS)状态的惯性导航系统(INS)/GNSS/里程计(ODO)抗差组合导航算法，提出了一种两级故障检测处理方法. 其中，第一级检测使用了基于解析冗余的残差卡方检验法，第二级检测使用了改进的双状态传播卡方检验算法. 利用自主研制的GN310低成本嵌入式系统采集路测数据. 结果表明：相对于传统算法，水平定位精度提升了39.7%；另外在半实物仿真下，水平定位误差保持在3 m以内，表明该容错方法能够有效地处理ODO、INS故障和GNSS软硬故障.Abstract: Aiming at the problem that the reliability of the low-cost embedded integrated navigation system is easily affected by various sensor failures and environment, a two-level fault detection and processing method is proposed based on inertial navigation system/GNSS/Odometer (INS/GNSS/ODO) robust integrated navigation algorithm with multiple Global navigation satellite system(GNSS)states. The first level detection uses the residual chi square test method based on analytic redundancy, and the second level test uses the improved dual state propagation chi square test algorithm use the self-developed GN310 low-cost embedded system to collect drive test data. The results show that the horizontal positioning accuracy is improved by 39.7% compared with the traditional algorithm. In addition, in the hardware in the loop simulation, the horizontal positioning error is kept within 3 m, which shows that the fault-tolerant method can effectively deal with ODO, mechanical arrangement fault and GNSS soft fault.
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表 1 RTK固定解时的第一级故障判决表
判别结论 ${\lambda _1} \leqslant \chi _{{\rm{u}}1}^2$ ${\lambda _2} \leqslant \chi _{{\rm{u2}}}^2$ ${\lambda _3} \leqslant \chi _{{\rm{u3}}}^2$ ODO故障 Y N N INS故障 N N Y GNSS故障 N Y − 注：“Y”表示表达式成立，“N”表示表达式不成立，“−”表示判别结论与该表达式无关. 
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表 2 含噪定位解时的第一级故障判决表
判别结论 判决条件 GNSS故障 ${\lambda _1} \leqslant \chi _{{\rm{u}}1}^2$ ODO故障 ${\lambda _2} \leqslant \chi _{{\rm{u2}}}^2$ INS故障 IMU硬件冗余检测
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表 3 IMU性能指标
性能指标 陀螺 加速度计 零偏稳定性 ±1 dps(25 ℃)
±0.01 dps/℃±25 mg(25 ℃)
±1 mg/℃标度因子 ±1%(25 ℃)25 ℃
±2%(−40 ℃ to +85 ℃)±1%(25 ℃)
±1.5%(−40 ℃ to +85 ℃)噪声谱密度 0.004 dps/$\sqrt {\rm{Hz}} $ 100 μg/$\sqrt {\rm{Hz}} $ 输入范围 ±250 dps ±2 g
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表 4 修正参数
参数 值 GNSS天线杆臂 / m \setlength{\voffset}{0pt}${\left[ {\begin{array}{*{20}{c} } { - 0.38},&{0.28},&{ - 0.13} \end{array} } \right]^{\rm{T} } }$ ODO杆臂 / m \setlength{\voffset}{0pt}${\left[ {\begin{array}{*{20}{c} } { - 0.84},&{0.9},&{1.5} \end{array} } \right]^{\rm{T} } }$ ODO标度因子误差 / % 2.6 俯仰安装角误差 / (°) 0.76 航向安装角误差 / (°) −1.46
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表 5 故障条件
故障类型 故障时段/s RTK固定解下
故障值（组1）含噪声定位解下
故障值（组2）ODO故障 1 100～1 130 2 m 2 m GNSS硬故障 1 200～1 230 2 m 10 m GNSS软故障 1 300～1 330 0.15 m/s×t 0.33 m/s×t INS故障 1 400～1 430 0.02 m 无法检测，不设置
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