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首页> 外文期刊>International Journal of Control, Automation, and Systems >Magnetic Compass Fault Detection Method for GPS/INS/Magnetic Compass Integrated Navigation Systems
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Magnetic Compass Fault Detection Method for GPS/INS/Magnetic Compass Integrated Navigation Systems

机译：GPS / INS /磁罗经组合导航系统的磁罗经故障检测方法

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摘要

This paper proposes a magnetic compass fault detection method for GPS/INS/Magnetic compass integrated navigation systems. The fault is assumed to be caused by the hard iron and soft iron effect and modeled as an abrupt change in the magnetic compass output. In order to detect the fault, a test statistic related with only azimuth error measurement is determined. When a fault is detected, the GPS/INS/Magnetic compass integrated navigation system is changed into a GPS/INS integrated navigation system mode. In order to show the validity of the proposed method, computer simulation and van testing are carried out. The simulation and van test results show that the proposed navigation system gives more accurate outputs than the GPS/INS/Magnetic compass without the proposed method.
机译：提出了一种GPS / INS /磁罗经组合导航系统的磁罗经故障检测方法。假定该故障是由硬铁和软铁效应引起的，并建模为电磁罗盘输出的突然变化。为了检测故障，确定仅与方位角误差测量有关的测试统计量。当检测到故障时，GPS / INS /电磁罗盘集成导航系统将更改为GPS / INS集成导航系统模式。为了证明所提方法的有效性，进行了计算机仿真和面包车测试。仿真和面包车测试结果表明，所提出的导航系统比没有所提出的方法的GPS / INS /电磁罗盘提供更准确的输出。

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