基于迭代双模型卡尔曼滤波的惯性传感器故障诊断方法

doi:10.12305/j.issn.1001-506X.2025.10.26

Abstract

Abstract:

In response to the problem of inaccurate or even failed navigation information caused by inertial sensor faults, a fault diagnosis method based on improved Kalman filter is proposed. By introducing an iterative dual-model mechanism, the method enhances the performance of the extended Kalman filter （EKF） algorithm in handling nonlinear systems. Additionally, a kinematic model is adopted to reduce the sensitivity of the method to turbulence, thereby improving algorithm accuracy. Evaluation and comparison with traditional methods using simulation experiment data demonstrate that the proposed method has significant advantages in accuracy and robustness, effectively achieving the diagnosis of both abrupt and gradual faults in inertial sensors.

Key words: inertial navigation system （INS）, sensor fault diagnosis, extended Kalman filter （EKF）, fault detection and diagnosis

CLC Number:

V 241.6

Chenyuan ZHANG, Haiying LIU. Fault diagnosis method of inertial sensor based on iterative double-model Kalman filter[J]. Systems Engineering and Electronics, 2025, 47(10): 3426-3432.

Figures/Tables 9

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故障时间/s	故障单元	故障类型	故障程度/（m·s⁻²）
13 < t < 23	$ {f_{{{Ax}}}} $	阶跃	2
	$ {f_{{{Ay}}}} $	斜坡	0.1t
	$ {f_{{{Az}}}} $	振荡	10sin（0.5πt）/180
33 < t < 43	$ {f_{{{Ax}}}} $	阶跃	−2
	$ {f_{{{Ay}}}} $	振荡	sin（0.5πt）/180
	$ {f_{{{Az}}}} $	斜坡	1t
53 < t < 63	$ {f_{{{Ax}}}} $	振荡	sin（0.5πt）/180
	$ {f_{{{Ay}}}} $	斜坡	−0.1t
	$ {f_{{{Az}}}} $	振荡	5sin（0.5πt）/180

故障时间/s	故障单元	故障类型	故障程度/（m/s²）
13 < t < 33	$ {f_{{{Ay}}}} $	斜坡	0.005t
33 < t < 53	$ {f_{{{Ay}}}} $	斜坡	−0.005t

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Fault diagnosis method of inertial sensor based on iterative double-model Kalman filter

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