本文關鍵詞：基于多傳感器網(wǎng)絡的導航系統(tǒng)完好性監(jiān)測與信息融合研究　出處：《南京航空航天大學》2014年碩士論文　論文類型：學位論文

  更多相關文章： 多傳感器網(wǎng)絡 幾何冗余配置 完好性監(jiān)測 故障診斷及隔離 小波分析 信息融合 濾波結構

【摘要】：基于多傳感器網(wǎng)絡的導航系統(tǒng)是一種新的導航系統(tǒng)設計理念，將多個導航傳感器系統(tǒng)配置在載體（如飛行器、艦船等）的不同位置，為載體的導航提供冗余的分布式測量信息的同時，還能提供計算載體電子設備局部運動補償?shù)膽T性信息。為了提高導航系統(tǒng)的性能，本文對多傳感器網(wǎng)絡的完好性監(jiān)測與信息融合關鍵技術進行研究，主要研究內容和創(chuàng)新點如下： （1）分析了多傳感器導航系統(tǒng)的設計方法，給出了基于傳感器網(wǎng)絡的系統(tǒng)模型，并分析了多傳感器數(shù)據(jù)融合結構。在此基礎上著重研究了多傳感器網(wǎng)絡節(jié)點的最優(yōu)化配置方法，給出了冗余傳感器最優(yōu)配置準則，使用平均故障時間參數(shù)對配置的可靠性進行分析，并利用單傳感器可靠性貢獻參數(shù)對導航系統(tǒng)的冗余傳感器數(shù)目進行優(yōu)化。由上述的研究，給出了一系列常用的傳感器系統(tǒng)節(jié)點配置的最優(yōu)化方案。 （2）研究了多傳感器導航系統(tǒng)的完好性監(jiān)測方法，采用移動窗口廣義似然比（MW-GLRT）完好性監(jiān)測算法解決了廣義似然比法（GLRT）對于特征向量提取不精確和樣本奇偶向量對故障的敏感程度隨時間的累積而下降的問題，顯著提高了導航系統(tǒng)的可靠性；針對導航冗余信息不足時只能判斷故障而無法隔離故障的問題，采用小波變換結合奇偶校驗的綜合算法，通過選取小波基和小波分解層數(shù)使檢測函數(shù)對傳感器故障的敏感程度區(qū)別于載體的機動，將奇偶校驗函數(shù)作為故障檢測隔離的保險裝置，通過階躍和斜坡故障的仿真分析驗證了上述算法的有效性。 （3）研究了多傳感器信息融合理論，分析了常用的濾波結構。在此基礎上提出了虛擬傳感器及其信息融合算法，對多傳感器節(jié)點降階處理后進行信息濾波融合，仿真驗證可得單節(jié)點多傳感器系統(tǒng)通過使用該融合算法能得到高精度的相對于正交軸的測量估計值；進一步提出了一種適用于多節(jié)點導航系統(tǒng)的分布式信息融合算法，包括分布式系統(tǒng)結構、測量模型和融合算法，通過仿真驗證可得，該算法充分利用了各節(jié)點的測量信息，有效提高了系統(tǒng)的狀態(tài)估計性能。 （4）建立了基于多傳感器網(wǎng)絡導航系統(tǒng)的數(shù)字仿真模型，包括軌跡生成、完好性監(jiān)測、信息融合等模塊；并設計一個半實物硬件仿真平臺，并進行了初步實現(xiàn)。 本文針對基于傳感器網(wǎng)絡的導航系統(tǒng)，研究了多傳感器網(wǎng)絡的完好性監(jiān)測和信息融合新方法，，針對其關鍵技術提出了有效的解決方法，在理論方法上取得了較好的創(chuàng)新性研究成果，為未來高性能導航系統(tǒng)設計提供一定的借鑒意義和應用價值。
[Abstract]:The navigation system based on multi-sensor network is a new design concept of navigation system, which configures multiple navigation sensor systems in different positions of carriers (such as aircraft, ships, etc.). While providing redundant distributed measurement information for carrier navigation, it can also provide inertial information to calculate the local motion compensation of carrier electronic equipment, in order to improve the performance of navigation system. In this paper, the key technologies of integrity monitoring and information fusion in multi-sensor networks are studied. The main research contents and innovations are as follows: 1) the design method of multi-sensor navigation system is analyzed, and the system model based on sensor network is given. Based on the analysis of multi-sensor data fusion structure, the optimal configuration method of multi-sensor network nodes is studied, and the optimal configuration criteria of redundant sensors are given. The reliability of the configuration is analyzed by using the average fault time parameter, and the number of redundant sensors in the navigation system is optimized by using the single sensor reliability contribution parameter. This paper presents a series of commonly used optimization schemes for sensor system node configuration. 2) the integrity monitoring method of multi-sensor navigation system is studied. The generalized likelihood ratio (GML) method is used to solve the problem of MW-GLRTT (Generalized likelihood ratio) of moving window. For feature vector extraction imprecision and sample odd-even vector sensitivity to the fault decreases with the accumulation of time. The reliability of navigation system is improved significantly. Aiming at the problem that the fault can only be judged but not isolated when the redundant information of navigation is insufficient, a comprehensive algorithm of wavelet transform combined with parity check is adopted. By selecting wavelet basis and wavelet decomposition layers, the sensitivity of detection function to sensor fault is different from that of carrier, and parity check function is used as the safety device for fault detection and isolation. The effectiveness of the algorithm is verified by the simulation analysis of step and slope faults. Thirdly, the theory of multi-sensor information fusion is studied, and the common filter structure is analyzed. Based on this, a virtual sensor and its information fusion algorithm are proposed. After reducing the order of the multi-sensor nodes, the information filtering fusion is carried out, and the simulation results show that the single-node multi-sensor system can get the high accuracy relative to the quadrature axis by using the fusion algorithm. Furthermore, a distributed information fusion algorithm for multi-node navigation system is proposed, including the structure of distributed system, measurement model and fusion algorithm, which can be verified by simulation. The algorithm makes full use of the measurement information of each node and effectively improves the performance of the system state estimation. (4) A digital simulation model based on multi-sensor network navigation system is established, including track generation, integrity monitoring, information fusion and so on. The hardware simulation platform is designed and implemented. For the navigation system based on sensor network, this paper studies a new method of integrity monitoring and information fusion of multi-sensor network, and puts forward an effective solution to its key technology. Good innovative research results have been obtained in theory and method, which will provide some reference and application value for the design of high performance navigation system in the future.
【學位授予單位】：南京航空航天大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：TP212.9;TN96

【參考文獻】

相關期刊論文 前10條

1 魏春嶺,張洪鉞;多傳感器斜置系統(tǒng)故障檢測的奇偶向量補償方法[J];北京航空航天大學學報;2001年06期

2 富立;王新玲;岳亞洲;;基于可靠性分析的最優(yōu)冗余配置數(shù)量確定方法[J];北京航空航天大學學報;2010年09期

3 岑朝輝;魏蛟龍;蔣睿;;Mallat小波快速變換與IDRNN在衛(wèi)星實時故障檢測與識別中的應用[J];北京科技大學學報;2012年01期

4 侯彥東;陳志國;湯天浩;;多傳感器故障檢測與隔離算法[J];化工學報;2010年08期

5 鈕永勝，趙新民，孫金瑋;傳感器故障診斷方法研究[J];航天控制;1996年04期

6 夏常弟,李治;傳感器故障診斷中確定閾值的隨機變量方法[J];控制與決策;1997年02期

7 文成林;胡玉成;;基于信息增量矩陣的故障診斷方法[J];自動化學報;2012年05期

8 劉劍慰;姜斌;;基于動態(tài)奇偶空間法的傳感器故障診斷[J];控制工程;2012年05期

9 劉準,陳哲;INS/GPS/TERCOM組合制導系統(tǒng)中的信息融合方法研究[J];宇航學報;2001年03期

10 賈鵬;張洪鉞;;基于奇異值分解的冗余慣導系統(tǒng)故障診斷[J];宇航學報;2006年05期

本文編號：1403327