Volume 36, Number 5, October 2018
|Page(s)||933 - 941|
|Published online||17 December 2018|
Aircraft Inertial Measurement Unit Fault Diagnosis Based on Optimal Two-Stage UKF
School of Automation, Northwestern Polytechnical University, Xi’an
2 Aviation Ammunition Research Institute of Weapon Industry Group, Harbin 150036, China
Optimal two stage Kalman filter (OTSKF) is able to obtain optimal estimation of system states and bias for linear system which contains random bias. Unscented Kalman filter (UKF) is a conventional nonlinear filtering method which utilizes Sigmas point sampling and unscented transformation technology realizes propagation of state means and covariances through nonlinear system. Aircraft is a typical complicate nonlinear system, this paper treats the faults of Inertial Measurement Unit (IMU) as random bias, established a filtering model which contains faults of IMU. Hybird the two stage filtering technique and UKF, this paper proposed an optimal two stage unscented Kalman filter (OTSUKF) algorithm which is suitable for fault diagnosis of IMU, realized optimal estimation of system states and faults identification of IMU via proposed innovative designing method of filtering model and the algorithm was validated that it is robust to wind disterbance via real flight data and it is also validated that proposed OTSUKF is optimal in the existance of wind disturbance via comparing with the existance iterated optimal two stage extended kalman filter (IOTSEKF) method.
Key words: optimal two stage unscented kalman filter / random bias / inertial measurement unit / state estimation / fault diagnosis
关键字 : 最优二步无迹卡尔曼滤波 / 随机偏差 / 惯性测量单元 / 状态估计 / 故障诊断
© 2018 Journal of Northwestern Polytechnical University. All rights reserved.
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