组合导航系统的数据处理与仿真
|
摘要
本文研究了有关组合导航系统的普遍的数据处理问题，总体上全文内容可以分为两大部分：组合导航系统数据处理和对一个组合导航系统仿真软件的介绍。具体内容如下：
●研究了最一般的导航数据融合问题(局部导航仪直接输出导航参数及精度，且无反馈、无局部导航仪之间的交叉数据通讯)；提出了一种新的无反馈多源相关估计向量的保守最优融合算法，并将该算法由两个数据源推广到了多个数据源；补充证明了一系列定理，从而将本文方法和前人研究成果有机地融为一体，建立了完整的无反馈多源相关估计向量融合的理论体系。在本章最后，对常用的几种导航数据融合算法进行了分析和计算比较，得出一些有益的结论。
● 对组合导航常用的FDI(Fault Detection and Identification)算法进行了详细的总结、分类，分析、比较；对Kerr提出的状态一致性检验算法进行了改造和补充；详细讨论了分散化估计中的故障诊断问题，设计了与之对应的故障诊断方案。
●对常规的次优递推Sage自适应滤波器进行了改造，包括：对滤波结果发散进行综合抑制，提高了滤波器的数值稳定性；采用并行结构，消除了结果偏差；应用SPRT控制调整，增强了滤波器的动态跟踪能力。最终，得到了一种非常适合于高动态数据处理的新的次优递推Sage自适应滤波器。
●在前述保守最优数据融合算法基础上，针对局部Kalman滤波模型只能给出滤波状态参数及其方差阵的情况，设计了一种新型的多模型(MM：Multi-Model)自适应估计器。算例表明，新方法对局部模型的选择判断正确，对局部模型的变化反应速度较快，可作为一种性能良好通用MM估计器。
● 简要介绍了正在进行的一项有关SINS／双星／GPS／GLONASS的组合导航仿真课题，包括设计思路、仿真模型等。并对SINS／双星以及SINS／双星／GPS／GLONASS的组合进行了简单探讨，设计了几种实现方案，分析了每种方案的特点与不足。
This dissertation studies some general data processing problems that concern integrated navigation systems, and the achievements are widely applicable. As a whole, this paper consists of two main parts: data processing of integrated navigation systems and an introduction of a software platform designed for the simulation and study of integrated navigation systems. The details are as followings:
The most usual problems related to navigation data fusion are studied (the local navigation sensors export directly navigation parameters and their accuracies without feedbacks and cross data communications); A novel conservative optimal fusion method of non-feedback multi-source correlated estimators is presented, and this method is extended to the case of more than two data sources; Some new theorems are supplied or proved so that our methods are naturally connected to the achievements up to present, and the integrated theory basis of non-feedback multi-source correlated estimators fusion is founded. At the end of this paper, some useful conclusions are summed up after analyzing and comparing several common-used methods of navigation data fusion.
FDI methods are of great importance to integrated navigation. So in this paper, the common FDI methods are summed up, classified and compared in detail; The algorithm of state-consistency-checking provided by Kerr is innovated; Fault diagnosis of the decentralized estimators are thoroughly discussed, for which the diagnosis scenario is also designed.
The classic sub-optimal recursive Sage adaptive filter is innovated in this paper. The innovations consist of: synthetically restraining the filter's divergence, as effectively improved the filter's numerical stability; a parallel filter structure is creatively designed to eliminate system biases; and SPRT method is used to control the adjustment of the noise statistics, so as to ameliorate the tracking performance of time-variant noises. Finally, a new sub-optimal recursive Sage adaptive filter is achieved, which is adapt to process high dynamic data.
Aiming at the black-box case that local Kalman filters provide only the parameters and covariance matrices of filtered states, a novel multi-model adaptive estimator is designed on the basis of the united CI method. Simulation shows that the new method can properly judge and select the correct local model with quick responses to the changes of local models, so it can be well used as a universal MM estimator.
A simulation task of integrated navigation system based on SINS/DB/GPS/GLONASS is introduced in brief, including the designing idea and the simulation models. Also, the integrations of SINS/DB and SINS/DB/GPS/GLONASS are discussed in a nutshell. Then several realizable solutions are designed, as well as each one's characters and disadvantages.
●研究了最一般的导航数据融合问题(局部导航仪直接输出导航参数及精度，且无反馈、无局部导航仪之间的交叉数据通讯)；提出了一种新的无反馈多源相关估计向量的保守最优融合算法，并将该算法由两个数据源推广到了多个数据源；补充证明了一系列定理，从而将本文方法和前人研究成果有机地融为一体，建立了完整的无反馈多源相关估计向量融合的理论体系。在本章最后，对常用的几种导航数据融合算法进行了分析和计算比较，得出一些有益的结论。
● 对组合导航常用的FDI(Fault Detection and Identification)算法进行了详细的总结、分类，分析、比较；对Kerr提出的状态一致性检验算法进行了改造和补充；详细讨论了分散化估计中的故障诊断问题，设计了与之对应的故障诊断方案。
●对常规的次优递推Sage自适应滤波器进行了改造，包括：对滤波结果发散进行综合抑制，提高了滤波器的数值稳定性；采用并行结构，消除了结果偏差；应用SPRT控制调整，增强了滤波器的动态跟踪能力。最终，得到了一种非常适合于高动态数据处理的新的次优递推Sage自适应滤波器。
●在前述保守最优数据融合算法基础上，针对局部Kalman滤波模型只能给出滤波状态参数及其方差阵的情况，设计了一种新型的多模型(MM：Multi-Model)自适应估计器。算例表明，新方法对局部模型的选择判断正确，对局部模型的变化反应速度较快，可作为一种性能良好通用MM估计器。
● 简要介绍了正在进行的一项有关SINS／双星／GPS／GLONASS的组合导航仿真课题，包括设计思路、仿真模型等。并对SINS／双星以及SINS／双星／GPS／GLONASS的组合进行了简单探讨，设计了几种实现方案，分析了每种方案的特点与不足。
This dissertation studies some general data processing problems that concern integrated navigation systems, and the achievements are widely applicable. As a whole, this paper consists of two main parts: data processing of integrated navigation systems and an introduction of a software platform designed for the simulation and study of integrated navigation systems. The details are as followings:
The most usual problems related to navigation data fusion are studied (the local navigation sensors export directly navigation parameters and their accuracies without feedbacks and cross data communications); A novel conservative optimal fusion method of non-feedback multi-source correlated estimators is presented, and this method is extended to the case of more than two data sources; Some new theorems are supplied or proved so that our methods are naturally connected to the achievements up to present, and the integrated theory basis of non-feedback multi-source correlated estimators fusion is founded. At the end of this paper, some useful conclusions are summed up after analyzing and comparing several common-used methods of navigation data fusion.
FDI methods are of great importance to integrated navigation. So in this paper, the common FDI methods are summed up, classified and compared in detail; The algorithm of state-consistency-checking provided by Kerr is innovated; Fault diagnosis of the decentralized estimators are thoroughly discussed, for which the diagnosis scenario is also designed.
The classic sub-optimal recursive Sage adaptive filter is innovated in this paper. The innovations consist of: synthetically restraining the filter's divergence, as effectively improved the filter's numerical stability; a parallel filter structure is creatively designed to eliminate system biases; and SPRT method is used to control the adjustment of the noise statistics, so as to ameliorate the tracking performance of time-variant noises. Finally, a new sub-optimal recursive Sage adaptive filter is achieved, which is adapt to process high dynamic data.
Aiming at the black-box case that local Kalman filters provide only the parameters and covariance matrices of filtered states, a novel multi-model adaptive estimator is designed on the basis of the united CI method. Simulation shows that the new method can properly judge and select the correct local model with quick responses to the changes of local models, so it can be well used as a universal MM estimator.
A simulation task of integrated navigation system based on SINS/DB/GPS/GLONASS is introduced in brief, including the designing idea and the simulation models. Also, the integrations of SINS/DB and SINS/DB/GPS/GLONASS are discussed in a nutshell. Then several realizable solutions are designed, as well as each one's characters and disadvantages.
引文
1 陈俊勇．走向新世纪的GPS，卫星应用简报，2000，210(3)
2 陈哲．捷联惯导系统原理．宇航出版社，1986
3 陈金平．GPS完善性增强，解放军信息工程大学博士学位论文，2001
4 程慧俐．智能容错导航系统理论研究北京航空航天大学博士学位论文，1995．
5 程云鹏．矩阵论，西安：西北工业大学出版社，2000
6 达人，陈新海，分散信息滤波及其在组合导航中的应用，航空学报，1991，12(3)：173～179．
7 董绪荣，张守信，华仲春．GPS/INS组合导航定位及其应用．国防科技大学出版社，1998：105-121
8 董绪荣．GINS与GPS组合系统的理论设计及其在动态大地测量中的应用研究武汉测绘利技大学博士学位论文，1993
9 杜兰．双星定位系统定位理论和精度分析，解放军测绘学院硕士论文,1996
10 冯永新．基于模型的故障诊断技术研究及其在航天器中的应用．哈尔滨工业大学博士学位论文．1996．
11 冯绍军．袁信．故障诊断中确定门限值的一种新方法，数据采集与处理，1999，14(1)
12 葛茂荣，葛胜杰．GPS动态定位中机动随机膜型分析．武汉测绘科技大学学报，1999，24(3)．
13 高社生．INS／SAR组合系统中的运动补偿与误差修正的研究，西北工业大学自动控制系博士学位论文，1999
14 干国强，邱致和等．导航与定位—现代战争的北斗星，北京：国防工业出版社，2000
15 郭修煌．精确制导技术，北京：国防工业出版社，1999
16 黄维彬，近代平差理论及其应用，北京：解放军出版社，1992
17 胡德风．一种提高低动态GPS接收机动态适应能力的方法，导弹与航天运载技术，1995，6：17～21
18 胡国荣，欧吉坤．改进的高动态GPS定位自适应卡尔曼滤波方法，测绘学报，1999，28(4)：290～294
19 胡寿松，陈复扬，黄兴李，一种多故障检测滤波器设计的新方法，数据采集与处理，1999，14(1)
20 胡绍林，孙国基．运载火箭的双星定位方法研究，中国空间科学技术，1999，1：14～31
21 刘晖，王银峰，张其善．GLONASS卫星可见性的一种预测方法，北京航空航天大学学报，2002，26(1)
22 刘俊，张思东，张宏科．GPS系统建模与仿真技术研究，系统仿真学报，2001，13(3)：329～331
23 刘同明，夏祖勋，解洪成．数据融合技术及其应用，北京：国防工业出版社，1998
24 刘广军，吴晓平．Design INS/RDSS/GPS Integrated Navigation System Using CPWCI Filter,提交于ION GPS 2001，美国，盐湖城，2001
25 刘广军，吴晓平．利用联邦滤波器设计INS/RDSS/GPS组合导航系统武汉大学学报(信息科学版)，26(5)：2001
26 刘广军，吴晓平，郭晶．基于SPRT检验的并行递推次优Sage滤波器，武汉大学学报(信息科学学版)，27(2)：2002
27 刘广军，吴晓平，郭晶．导航系统在线统计故障检测算法的总结与比较，测绘通报，2002，第5期
28 刘广军，吴晓平．级联SINS/GPS的相关卡尔曼滤波，火力指挥与控制，27(1)：2002
29 刘广军，吴晓平，孙付平，易维勇．导航系统在线统计故障诊断，中华惯性技术学会华中分会会议，宁波，2001
30 李建文．GLONASS卫星导航系统及GPS/GLONASS组合应用研究解放军测绘学院硕士论文，2001
31 李圣怡，吴学忠，范大鹏．多传感器融合理论及在智能制造系统中的应用，长沙：国防科技大学出版社，1998
32 吕志伟，郝金明，峰春雷．2000～2001年间GPS的改进，解放军测绘学院学报，2001，18(4)：250～253
33 马昕，于海田，袁信，组合导航系统故障检测问题研究，东南大学学报，1999，29(3)，万方数据库下载
34 彭允祥．捷联惯导与导航卫星组合技术的发展趋势，导弹与航运载技术，1999，1：58～62
35 秦永元，张洪钺，汪叔华．卡尔曼滤波与组合导航原理．西北工业大学出版社，1998
36 任思聪．实用惯导系统原理．宇航出版社，1989
37 宋文尧，张牙．卡尔曼滤波．北京：科学出版社，1991．
38 苏惠敏，张明廉，多传感器数据融合中的鲁棒检测技术，北京航空航天大学学报，1999，25(2)
39 魏子卿，GPS现代化与欧洲伽利略系统，卫星应用简报，2000-6
40 吴重光等．仿真技术，北京：化学工业出版社，2000
41 吴捷，任萱，胡小平，郑委，郑冲．双星定姿的建模与仿真，空间科学学报，1999，19(2)：154～159
42 吴淮宁，费元春．不确定离散系统的最优鲁棒滤波，控制理论与应用，1999，16(2)
43 王广运，郭秉义，李洪涛．差分GPS定位技术与应用，北京：电子工业出版社，1996
44 王鸿飞．基于Dampster-Shafer证据理论的柴油机故障诊断，内燃机学报，2000，18(1)
45 王壬林．加速度计，北京：国防工业出版社，1982
46 王旭东，潘科炎，李新峰．当前航天器制导、导航和控制的几个问题，控制工程，1999，2：18～43
47 王永刚，袁建平，王明海．GPS与弹道导弹INS组合制导方案初探，航天控制，1996，2：25～28
48 王艳东，黄继勋，范跃祖．GPS/INS组合系统半实物仿真研究，北京航空航天大学学报，1999，25(3)，万方数据库
49 汪锡桢．国外组合式INS/GPS系统研制开发情况两三例，航天控制，1994，3，53～59
50 闻新，张洪钺，周露，控制系统的故障诊断和容错控制，北京：机械工业出版社，1998
51 许其凤．GLONASS卫星导航系统(一)，军事测绘，2000，1：52～55
52 许其凤．GLONASS卫星导航系统(二)，军事测绘，2000，2：52～55
53 许国桢等，惯性技术手册，北京：宇航出版社，1996
54 吴延忠，李贵琦．地球同步卫星定位．北京：解放军出版社，1992
55 夏常弟，万百五，利用逆系统的故障诊断方法，控制理论与应用，1999，16(1)
56 颜东，张洪钺．捷联导引头制导系统导引律及自适应滤波方案设计，宇航学报，1996，17(1)：8～14
57 颜东．导航/制导系统状态估计方法及容错理论研究．北京航空航天大学博士学位论文．1995．
58 杨元喜．动态系统抗差Kalman滤波，解放军测绘学院学报，1989，14(2)：79～84
59 杨元喜．多种抗差模型的理论基础及比较，大地测量学论文专集，北京：测绘出版社，1999，51～57
60 杨元喜，何海波，徐天河．论动态自适应滤波，测绘学报，2001，30(4)：293-298
61 杨天奇，基于神经网络自适应滤波器的故障检测与诊断，数据采集与处理，2000，15(1)：128～131
62 杨新，王小虎，申公璋，文传源．飞机六度自由模型及仿真研究，系统仿真学报，2000，12(3)
63 杨新民，陶征宇，江华．世界上最小的嵌入式惯导／GPS组合导航系统H-764G的鉴定，惯导与仪表，1997，4，31'42
64 袁信，俞济祥，陈哲．导航系统．航空工业出版社，1993
65 袁信，郑鄂．捷联式惯性导航原理．航空工业出版社，1985
66 袁建平，方群，郑鄂．GPS在飞行器定位导航中的应用．西安：西北工业大学出版社，2000
67 周江文．误差理论，北京：测绘出版社，1979
68 张萍，王桂增，周东毕，动态系统的故障诊断方法，控制理论与应用，2000，17(2)：153～158
69 张汉国，张洪钺．阴止自适应Kalman滤波发散的补救方法[J]．控制与决策，1991，6(1)：45～41．
70 张春华，何传五．惯性技术，北京：科学技术出版社，1987
71 张汉国．分散化估计方法及其在容错导航系统中的应用，北京航空航天大学博士学位论文，1991．
72 张文明，姜文利，周一宇．GPS接收机中DLL分析与仿真，计算机仿真，2002，19(2)：97～100
73 周荻，胡振坤，胡恒章．自适应推广Kalman滤波应用于导弹的被动制导问题，宇航学报，1997，18(4)：32～36
74 周江文．误差理论，北京：测绘出版社，1979
75 朱振乾．统计滤波理论在飞行器制导系统中的应用，航天控制，1993，4：15～22
76 An P E, Healey A J, Park J, Smith S M. Asynchronous Data Fusion For AUV Navigation Via Hearistic Fuzzy Filtering Techniques, In: Proceedings of IEEE Oceans'97, Halifax, 1997
77 Abdelrazak Y, Bakhache B, Nikiforov I. Sequential RAIM: Theory and application to Civil Aviation Needs, 网上下载
78 Agusin R M. Robust Failure Detection for Reentry Vehicle Attitude Control Systems, Journal of Guidance, Control, and Dynamics. 1999, 22(6): 839～845
79 Anderson T W. An Introduction to Multivariate Statistical Analysis, John Wiley & Sons, Inc., 1984
80 Aranda J, Cruz J R, Ruiperez P, Dormido S. Software for Modeling Simulation and Design of Navigation Systems, Math Modelling and Sci. Computing 1993(2): 222-227
81 Berman Z, Powell J D. The Role of Dead Reckoning and Inertial Sensors in Future General Aviation Navigation, In: Proceedings of IEEE
PLANS'98,1998, Las Vegas, 510-517
82 Boris S P, Lawrence D G, Parkinson B W. Autonomous Fault Detection and Removal Using GPS Carrier Phase, IEEE Trans. On Aerospace and Electronic Systems, 1998,34(3) :897-905
83Bakhache B, Nikiforov I. A Sequential RAIM Based on the Civil Aviation Requirements, In: ION GPS'99, Nashville, TN, 1999: 1201-1209
84Baum C W, Veeravalli V V. A Sequential Procedure for Multihypothesis Testing, IEEE Trans. On Information Theory, 1994, 40(6) : 1994-2007
85Baruh H, Choe K. Sensor-Failure Detection Method for Flexible Structures, Journal of Guidance, Control, and Dynamics, 1987, 10(5) : 474-482
86Bar-Shalom Y. On the Track-to-Track Correlation Problem, IEEE Trans. On Automatic Control, 1981,26(2) : 571-572
87Bar-Shalom Y. The Effect of the Common Process Noise on the Two-Sensor Fused-Track Covariance, IEEE Trans. On Aerospace and Electronics System, 1986,22(6) : 803-805
88Bell W B, Gore R Q Cockrell L D. Cascading Filtered DTS Data into a Loosely-Coupled GPS/INS System. In: Proc. of IEEE PLANS'98, 1998,586-583
89Braasch M S. A Signal Model for GPS, NAVIGATION: Journal of The Institute of Navigation, 1990,37(4) : 363-377
90Braasch M S. GPS Multipath Model Validation, In: Proceedings of IEEE PLANS'96, Las Vegas, 1996,672-678
91Brown Ⅲ J E. Ring Laser Gyro/Global Positioning System Navigation improvement Program Plus, In: Proceedings of IEEE PLANS'98, 1998, Las Vegas, 30-36
92Carlson N A Federated Filter for Fault-tolerant Integrated Navigation Systems. In: Proc.ofIEEE PLANS'88,1988,110-119
93Carlson N A. Federated Square Root Filter for Decentralized Parallel Process. IEEE Transactions On Aerospace and Electronic Systems. 1990, 26(3) :517-525
94Carlson N A. Berarducci M. B.. Federated Kalman Filter Simulation Results. NAVIGATION: Journal of The Institute of Navigation. 1994, 41(3) : 297-321
95 Carlson N A. Fedrated Filter for Computer-Efficient, Near-Optimal GPS Integration. In: Proc. of IEEE PLANS'96,1996,306-314
96 Carpenter J R, Bishop R H. Flight-Dafa Results of Estimate Fusion for Spacecraft Rendezvous Navigation from Shuttle Mission STS-69, The Journal of the Astronautical Sciences, 1997,45(3) : 297-319
97Carpenter J R, Bishop R H. Navigation Filter Estimate Fusion for Enhanced Spacecraft Rendezvous, Journal of Guidance, Control, and Dynamics. 1997,20(2) : 338-345
98Carvalho H, Moral P D. Optimal Nonlinear Filtering in GPS/INS Integration, IEEE Transactions on Aerospace and Electronic Systems, 1997,33(3) : 835-849
99 Castanon D A, Teneketzis D. Distributed Estimation Algorithms for Nolinear Systems. IEEE Transactions On Automatic Control. 1985, 30(5) :418-425
100 Chow E Y, Willsky A S. Analytical Redundancy and the Design of Robust Failure Detection System, IEEE Trans. Automatic Control, 1984, 29(3) : 689-691
101 Ching-Fang Lin. Modern Navigation, Guidance, and Control Proceeding, New Jersey: Prentice Hall, 1992
102 Chang K C, Saha R K, Bar-Shalom Y. On Optimal Track-to-Track Fusion, IEEE Transactions on Aerospace and Electronic Systems, 1997, 33(4) : 1271-1276
103 Doyle R S, Harris C J. Multi-Sensor Data Fusion for Helicopter Guidance, 网上下载
104 Douglas R K, Speyer J L. Robust Fault Detection Filter Desige, Journal of Guidance, Control, and Dynamics, 19(1) : 19%
105 Dragalin V P, Tartakovsky A G, Veeravalli V V. Multihypothesis Sequential Probability Ratio Tests-Part I: Asymptotic Optimality, IEEE Trans. On Information Theory, 1999,45(7) : 2448-2461
106 Dragalin V P, Tartakovsky A G Veeravalli V V. Multihypothesis Sequential Probability Ratio Tests-Part II: Accurate Asymptotic Expansions for the Expected Sample Size, IEEE Trans. On Information Theory, 2000,46(4) : 1366-1383
107 Definition of a Yuma Almanac, http://www.navcen.uscg.mil/gps/gpsyuma.htm
108 Definition of a Yuma Almanac, htlpyAvww.navcen.uscg.mil/glonass/glonassyuma.htm
109 Eide P K, Maybeck P S. An MMAE failure detection system for the F-16, IEEE Trans. On Aerospace and Electronic Systems, 1996,32(3) : 1125-1136
110 Elmenreich W. An Introduction to Data Fusion, http://www:vmars.tuwien.ac.at/-wilfried/sfusion/sfusion.html
111 Friedland B. Maximum Likelihood Failure Detection of Aircraft Flight Control Sensors, Journal of Guidance, Control, and Dynamics, 1982,5(5) : 498-503
112 Gelb A. Applied Optimal Estimation. Cambridge: The MI.T Press, 1974
113 Global Positioning System Standard Positioning Service Signal Specification, 2nd Edition 1995
114 GLONASSICD 4． 0,1998
115 Grewal M S, Barrell J, Barth M Application of DGPS/INS to Automobile Navigation with Latency Compensation, In: Proceedings of IEEE PLANS'96, Las Vegas, 1996, 433-436
116 Gebre-Egziabher D, Hayward R C, Powell J D. A Low-Cost GPS/Inertial Attitude Heading Reference System (AHRS) for General Aviation Applications, In: Proceedings of IEEE PLANS'98,1998, Las Vegas, 518-525
117 Greenspan R L. Inertial Navigation Technology From 1970-1995． NAVIGATION: Journal of The Institute of Navigation. 1995, 42(1) :165-182
118 Hardwick C D, Liu J. Characterization of Phase and Multipath Errors for an Aircraft GPS Antenna, NAVIGATION: Journal of The Institute of Navigation, 1996,43(1) : 41-54
119 Harvey R S. Development of A Precision Pointing System Using an Integrated Multi-Sensor Approach, Doctor Thesis of University of Calgary, 1998
120 Horak D T. Failure Detection in Dynamic Systems with Modeling Errors, Journal of Guidance, Control, and Dynamics, 1987, 11(6) : 508-526
121 Harold A, Klotz F. GPS-Aided Navigation and Unaided Navigation on the Joint Direct Attack Munition, In: Proceedings of IEEE PLANS'98,1998, Las Vegas, 412-419
122 Jiang B, Wang J L, Son Y C. Robust Fault Diagnosis for a Class of Linear Systems with Uncertainty, Journal of Guidance, Control, and Dynamics, 1999,22(5) :736-740
123 Julier S J, Uhlmann J K. A Non-divergent Estimation Algorithm in the Presence of Unknown Correlations, Julier 提供, siju@robots.ox.ac.uk
124 Karatsinides S P. Enhancing Filter Robustness in Cascaded GPS-INS Integrations, IEEE Transactions on Aerospace and Electronic Systems, 30(4) : 1994
125 Kose C, Dennis L. Goeckel. Minimum Complexity Sequential Multihypothesis Detection: Weak Sequential Tests, MIT, 2000,网上下载
126 Kerr T. Real-time Failure Detection: ANonlinear Optimization Problem That Yields A Two-elipsoid Overlap Test, Journal of Optimization Theory and Applications, 1977,22(4) : 508-536
127 Kerr T. Comments on "A Chi-square Test for Fault Detection in Kalman Filters", IEEE Trans. On Automatic Control, 1990, 35(11) : 1277-1278
128 Kerr T. Decentralized Filtering and Redundancy Management Failure Detection for Multisensor Navigation. IEEE Transactions on Aerospace and Electronic Systems. 1987,23(1) :83-110
129 Ken Ito, Kazuaki Hoshinoo, Minoru Ito. Differential Positioning Experiment Using Two Geostationary Satellites. IEEE Transaction On Aerospace And Electronic Systems, 1999,35(3) :866-877
130 Kirubarajan T, Bar-Shalom Y, Pattipati K R, Kadar L Ground Target Tracking with Variable Structure MM Estimator, IEEE Transactions on Aerospace and Electronic Systems, 2000,36(1) : 26-46
131 Lala J H. Fault Detection, Isolation, and Reconfiguration in the Fault Tolerant Multiprocessor, Journal of Guidance, Control, and Dynamics, 1986,9(5) : 595-592
132 Lai T L. Sequential Changepoint Detection in Quality Control And Dynamical Systems, Jal Royal Statistical Society B, 1995, 57(4) : 613-658
133 Lai T L. Information Bounds and Quick Detection of Parameter Changes in Stochastic Systems, IEEE Trans. On Information Theory, 1998,44(7) : 2917-2929
134 LefevreHC. The Fiber-Optic Gyroscope (光纤陀螺仪)张桂才，王巍译，北京：国防工业出版社, 2002
135 Li X R, Bar-Shalom Y. Performance Prediction of the Interacting Multiple Model Algorithm, IEEE Transactions on Aerospace and Electronic Systems, 1993,29(3) : 755-771
136 Li X R, Bar-Shalom Y. Design of Interacting Multiple Model Algorithm for Air Traffic Control Tracking, IEEE Transactions on Control Systems Technology, 1993,1,3:186-194
137 Li X R, Bar-Shalom Y. A Recursive Multiple Model Approach to Noise Identification, IEEE Transactions on Aerospace and Electronic Systems, 1994,30(3) : 671-684
138 Li XR, Bar-Shalom Y. Multiple-Model Estimation with Variable Structure, IEEE Transactions on Automatic Control, 1996,41(4) : 1-16
139 Lou X, Willsky A S, Vergheese G C. Optimally Robust Redundancy Relations for Failure Detection in Uncertain Systems. Automatica, 1986,24(3) : 333-344
140 LippW.组合GPS/光纤陀螺陆地导航系统, In: Symposium Gyro Technoloy 1996, Stuttgart, Germany,伊小素译，惯导与仪表, 1997, 4,23-30
141 Mayhew D M. Multi-rate Sensor Fusion for GPS Navigation Using Kalman Filtering, Doctor Thesis of the Virginia Polytechnic Institute and State University, 1999
142 Mirabadi A, Schmid F. Fault Tolerant Train Navigation System Using Multisensor Integration Methods, 2001, (网上交流: Email: cop94am@sheffield.ac.uk)
143 Mirabadi A, Schmid F, Mort N. Fault Detection and Isolation in a Multisensor Train Navigation System, 2001, (网上交流: Email: cop94am@sheffield.ac.uk and f.schmid@sheffield.ac.uk)
144 Merrill W C. Sensor Failure Detection for Jet Engines Using Analytical Redundancy, 1985,8(6) :673-682
145 McMillan J C, Bird J S, Arden DAG Techniques for Soft-Failure Deletion in a Multisensor Integrated System, NAVIGATION: Journal of The Institute of Navigation, 1993,40(3) : 227-248
146 McMillan J C. Sensor Integration Options for Low Cost Position & Altitude Determination,, In: Proceeding of IEEE PLANS'98,1998, Las Vegas, 453-458
147 Murdin D. Data Fusion and Fault Detection in Decentralized Navigation Systems, Master Thesis, Linkoping University, 1998
148 Malladi D P. Speyer J L. A Generalized Shiryayev Sequential Probability Ratio Test for Change Detection and Isolation, IEEE Trans, on Automatic Control, 1999,1522-1534
149 McBumey P W. A Robust Approach to Reliable Real Time Kalman Filtering, In: IEEE PLANS'90, Las Vegas, 1990:549-556
150 Maybeck P S. Reconfigurable Flight Control via Multiple Model Adaptive Control Methods, IEEE Trans. On Aerospace and Electronic Systems, 1991,27(3) : 470-480
151 Maybeck P S, Hanlon P D. Performance Enhancement of A Multiple Model Adaptive Estimator, IEEE Trans. On Aerospace and Electronic Systems, 1995,31(4) : 1240-1253
152 Menke E E, Maybeck P S. Sensor/Actuator Failure Detection in the VISTA F-l6 by Multiple Model Adaptive Estimation, IEEE Trans. On Aerospace and Electronic Systems, 1995,31(4) : 1218-1229
153 Mohamed A H, Schwarz K P. Adaptive Kalman filtering for INS/GPS, Journal of Geodesy, 73(4) : 193-203
154 Merrill W C. Sensor Failure Detection for Jet Engines Using Analytical Redundancy, Journal of Guidance, Control, and Dynamics, 1985, 8(6) : 673-682
155 Maryak J L. Asher M S. Isolating Errors in Models of Complex Systems, 1993,29(2) : 452-462
156 Mazor E, Averbuch A, Bar-Shalom Y, Dayan J. Interacting Multiple Model Methods in Target Tracking: A Survey, EEEE Transactions on Aerospace and Electronic Systems, 1998,34(1) : 103-123
157 Mutambara A. Fully Connected Decentralized Estimation, In: Proceedings of SPIE, Vol. 3209,北京中信所微缩胶片
158 NAVSTAR GPS User Equipment Introduction, Release Edition, 1996
159 Nikiforov I. A Generalized Change Detection Problem, IEEE Trans. On Information Theory, 1995,41(1) : 171-187
160 Nikiforov I. Optimal Sequential Detection And Isolation of Changes In Stochastic Systems, Report of IRISA, 1997,网上下载
161 Nikiforov I. Sequential FSS and Snapshot Approaches to GPS/DGPS Integrity Monitoring, In: ION GPS97,1997:449-458
162 Nikiforov I. Two Strategies in the Problem of Change Detection and Isolation, IEEE Trans. On Information Theory, 1997,43(2) : 770-776
163 Nikiforov I. Quadratic Tests for Detection of Abrupt Changes in Multivariate Signals, IEEE Trans. On Signal Processing, 1999, 47(9) : 2534-2538
164 Nikiforov I. A Simple Recursive Algorithm for Diagnosis of Abrupt Changes in Random Signals, IEEE Trans. On Information Theory, 2000,46(7) : 2740-2744
165 Nikiforov I. A Suboptimal Quadratic Change Detection Scheme, IEEE Trans. On Information Theory, 2000,46(6) : 2095-2107
166 Ndili A, Enge P. GPS Receiver Autonomous Interference Detection, In: Proceedings of IEEE PLANS'98, Las Vegas, 1998,123-129
167 Parkinson B W, James J, Spilker J. Global Positioning System: Theory and Applications, AIAA, INC, 1996
168 Parkinson B W. origins, Evolution, and Future of Satellite Navigation, Journal of Guidance, Control, and Dynamics, 1997,20(1) : 11-25
169 Patton R J, Willcox S W. Parameter-Insensitive Technique for Aircraft Sensor Fault Analysis, Journal of Guidance, Control, and Dynamics, 1987,10(4) : 359-367
170 Patton R J, Chen J. Review of Parity Space Approaches to Fault Diagnosis for Aerospace Systems, Journal of Guidance, Control, and Dynamics, 1994,17(2) : 278-285
171 Poor W A. A Geometric Description of Wander Azimuth Frames, NAVIGATION: Journal of The Institute of Navigation, 1989, 36(3) : 303-318
172 Popp R L, Pattipati K R, Bar-Shalom Y. Shared-Memory Parallelization of the Data Association Problem in Multitarget Tracking, IEEE Transactions on Parallel and Distributed Systems, 1997,8(10) : 993-1005
173 Porter T R H M, Schwarz K P, Adams J R. The Inertial Pipeline Pig: An Autonomous System for Pipeline Monitoring. In: Proc. Of FIG XIX Int Congress. Helsinki, Finland, 1990
174 Qin S J, Li W R Detection and Identification of Faulty Sensors with Maximized Sensitivity, In: Proceedings of the American Control Conference, San Diego, California, 1999:613-617
175 Qin Z X Zhang H Y, Cheng H L, Analysis, Detection and Estimation of Soft failures for Strapdown Inertial Navigation System, In: Proceedings of the American Control Conference, Albuquerque, New Mexico, 1997:1375-1379
176 Ren Da, Ching-Fang Lin. Failure Detection and Isolation Structure for Global Positioning System Autonomous Integrity Monitoring, Journal of Guidance, Control, and Dynamics, 1995,18(2) : 291-297
177 Rao CR. Linear Statistical Inference and Its Applications (Second Edition), John Wiley &Sons, Inc., New York, 1973
178 Rao N. A Fusion Method that Performs Better Than Best Sensor, In: Proceedings of Fusion98,网上下载：请登陆Oak Ridge National Laboratory 网页
179 RichardsRT, SnrvefyLO. GEOSTAR Positioning Analysis. In: Proc. of IEEE PLANS'86,1986,13-19
180 Sage A P, Husa G W. Adaptive Filtering with Unknown Prior Statistics, In: Proceedings of Joint Automatic Control Conference[C]. Boulder CO, 1969．
181 Schmid MF,Mort N. Fault Detection and Isolation in a Multisensor Train Navigation System, 1999
182 Schwarz K P. 惯性技术与GPS的发展及应用,学术报告,王进整理,1992
183 Schwarz K P. Aided Versus Embedded: A Comparison of Two Approaches to GPS/INS Integration, In: Proceedings of IEEE PLANS'94, Las Vegas, 1994,344-322
184 SchanzerG.陀螺漂移对GPS/INS精密组合导航系统综合性能的影响, In: Proceedings of Symposium Gyro Technology, 1991,陈雪东译,惯导与仪表, 47-54
185 Saif M., Guan Y P. ANew Approach to Rovust Fault Detection and Identification, IEEE Trans. On Aerospace and Electronic Systems, 1993,29(3) :685-695
186 Speyer J L, White J E Shiryayev Sequential Probability Ratio Test for Redundancy Management, Journal of Guidance, Control, and Dynamics, 1984,7(5) :588-595
187 Speyer J L. Computation and Transmission Requirements for a Decentralized Linear Quadratic-Gaussian Control System. IEEE
Transactions on Automatic Control. 1979,24(2) :266-269
188 Swanson S R. A Fuzzy Navigational State estimator for GPS/INS Integration, In: Proceeding of IEEE PLANS'98, 1998, Las Vegas, 541-548
189 Shirer H 0． PREPARING NOW FOR THE FUTURE: U.S. Civil Radionavigation Policy and Planning. In: Proc. of IEEE PLANS'98, 1998,69-74
190 Teunissen PJ G Quality Control In Integrated Navigation Systems, In: ION PLANS'90, Los Vegas, 1990: 158-165
191 Tetewsky AK, Soltz A. GPS Matlab Toolbox Review, http://gauss.gge.unb.ca/gpsworld/gpsmatiab.html
192 Talbot N C. High-Precision Real-Time GPS Positioning Concepts: Modeling and Results, NAVIGATION: Journal of The Institute of Navigation, 1991,38(2) : 147-161
193 Julier S J, Uhlmann J K. A Non-divergent Estimation Algorithm in the Presencce of Unknown Correlations, Julier 提供, siju@robots.ox.ac.uk
194 Uhlmann J K. General Data Fusion for Estimates With Unknown Cross Covariances, In: Proceedings of the SPIE Aerosense Conference, 1996, 2755
195 Viswanadham N, Taylor J H, Luce E C. 1987． A Frequency Domain Approach to Failure Detection and Isolation with Application to GE-21 Turbine Engine Control Systems. Control Theory and Advanced Technology, 1987,3(1) : 45-72
196 Vieweg S. Integrity Monitoring and Failure Identification within and Integrated Satellite/Inertial navigation System, In: IEEE PLANS'94, Las Vegas, 1994: 755-764
197 Veervalli V V, Baum C W. Asymptotic Efficiency of A Sequential Multihypothesis Test, IEEE Trans. On Information Theory, 1995,41(6) : 1994-1997
198 Vieweg S. Integrity Monitoring and Failure Identification with an Integrated Satellite / Inertial Navigation System, In: IEEE PLANS'94, 1994:755-761
199 Wang H, Bar-Shalom Y. Precision Large Scale Air Traffic Surveillance Using IMM/Assignment Estimators, IEEE Transactions on Aerospace and Electronic Systems, 1999,35(1) : 255-266
200 Seismic Research Symposium, Southern Methodist University, 2000:674-682
201 Walker B K, Gai E. Fault Detection Threshold Determination Technique Using Markov Theory, Journal of Guidance and Control, 1979, 2(4) : 313-319
202 Wagdi M N. An Adaptive Control Approach to Sensor Failure Detection and Isolation, Journal of Guidance, Control, and Dynamics, 1981, 5(2) : 118-122
203 Wark P. Using a GPS Receiver Monte-Carlo Simulator to Predict RF Inteference Performance, In: Proceedings of ION GPS 97, Kansas City Mo., 1997,1473-1480
204 White N A, Maybeck P S, DeVilbiss S L. Detection of Interference/Jamming and Spoofing in a DGPS-Aided Inertial System, IEEE Trans. On Aerospace and Electronic Systems, 1998,34(4) : 1208-1216
205 Willsky A S, Bello M Q Castanon D A, et, al. Combining and Updating of Local Estimates and Regional Maps Along Sets of One-Dimensional Tracks. IEEE Transaction on Automatic Control. 1982,27(4) :799-812
206 Wu N E, Wang Y Y. Robust Failure Detecton with Parity Check on Filtered Measurements, IEEE Trans. On Aerospace and Electronic Systems 31(1) : 1995:489-491
207 Wei M, Schwarz K P. A Strapdown Inertial Algorithm Using an Earth-Fixed Cartesian Frame. Navigation. 1990(37) : 153-167
208 Wong R V, Schwarz K P, Cannon M E. High-Accuracy Kinematic Positioning by GPS-INS, NAVIGATION: Journal of The Institute of Navigation, 1998, 35(2) : 274286
209 Woodward W A, Sain S R, Gray H L, Fisk M D. Outlier Testing When Some Data Are Missing, In: 21st
210 Woodroofe M. Nolinear Renewal Theory in Sequential Analysis, PA: SLAM, Philadelphia, 1982
211 Yi Bian. GPS Signal Selective Availability-Modeling and Simulation For FAA WAAS IV&V, In: Proceedings of IEEE PLANS'96, Las Vegas, 1996,545-522
212 Zhang Y M, Li X R. Detection and Diagnosis of Sensor and Actuator Failures Using IMM Estimator, IEEE Trans. On Aerospace and
Electronic Systems, 1998,34(4) : 1293-1312
213 Zolgjiadri Ali. An algorithm for real-time failure detection in Kalman filters. IEEE Transactions on Automatic Control, 1996, 41(10) :1537-1539
2 陈哲．捷联惯导系统原理．宇航出版社，1986
3 陈金平．GPS完善性增强，解放军信息工程大学博士学位论文，2001
4 程慧俐．智能容错导航系统理论研究北京航空航天大学博士学位论文，1995．
5 程云鹏．矩阵论，西安：西北工业大学出版社，2000
6 达人，陈新海，分散信息滤波及其在组合导航中的应用，航空学报，1991，12(3)：173～179．
7 董绪荣，张守信，华仲春．GPS/INS组合导航定位及其应用．国防科技大学出版社，1998：105-121
8 董绪荣．GINS与GPS组合系统的理论设计及其在动态大地测量中的应用研究武汉测绘利技大学博士学位论文，1993
9 杜兰．双星定位系统定位理论和精度分析，解放军测绘学院硕士论文,1996
10 冯永新．基于模型的故障诊断技术研究及其在航天器中的应用．哈尔滨工业大学博士学位论文．1996．
11 冯绍军．袁信．故障诊断中确定门限值的一种新方法，数据采集与处理，1999，14(1)
12 葛茂荣，葛胜杰．GPS动态定位中机动随机膜型分析．武汉测绘科技大学学报，1999，24(3)．
13 高社生．INS／SAR组合系统中的运动补偿与误差修正的研究，西北工业大学自动控制系博士学位论文，1999
14 干国强，邱致和等．导航与定位—现代战争的北斗星，北京：国防工业出版社，2000
15 郭修煌．精确制导技术，北京：国防工业出版社，1999
16 黄维彬，近代平差理论及其应用，北京：解放军出版社，1992
17 胡德风．一种提高低动态GPS接收机动态适应能力的方法，导弹与航天运载技术，1995，6：17～21
18 胡国荣，欧吉坤．改进的高动态GPS定位自适应卡尔曼滤波方法，测绘学报，1999，28(4)：290～294
19 胡寿松，陈复扬，黄兴李，一种多故障检测滤波器设计的新方法，数据采集与处理，1999，14(1)
20 胡绍林，孙国基．运载火箭的双星定位方法研究，中国空间科学技术，1999，1：14～31
21 刘晖，王银峰，张其善．GLONASS卫星可见性的一种预测方法，北京航空航天大学学报，2002，26(1)
22 刘俊，张思东，张宏科．GPS系统建模与仿真技术研究，系统仿真学报，2001，13(3)：329～331
23 刘同明，夏祖勋，解洪成．数据融合技术及其应用，北京：国防工业出版社，1998
24 刘广军，吴晓平．Design INS/RDSS/GPS Integrated Navigation System Using CPWCI Filter,提交于ION GPS 2001，美国，盐湖城，2001
25 刘广军，吴晓平．利用联邦滤波器设计INS/RDSS/GPS组合导航系统武汉大学学报(信息科学版)，26(5)：2001
26 刘广军，吴晓平，郭晶．基于SPRT检验的并行递推次优Sage滤波器，武汉大学学报(信息科学学版)，27(2)：2002
27 刘广军，吴晓平，郭晶．导航系统在线统计故障检测算法的总结与比较，测绘通报，2002，第5期
28 刘广军，吴晓平．级联SINS/GPS的相关卡尔曼滤波，火力指挥与控制，27(1)：2002
29 刘广军，吴晓平，孙付平，易维勇．导航系统在线统计故障诊断，中华惯性技术学会华中分会会议，宁波，2001
30 李建文．GLONASS卫星导航系统及GPS/GLONASS组合应用研究解放军测绘学院硕士论文，2001
31 李圣怡，吴学忠，范大鹏．多传感器融合理论及在智能制造系统中的应用，长沙：国防科技大学出版社，1998
32 吕志伟，郝金明，峰春雷．2000～2001年间GPS的改进，解放军测绘学院学报，2001，18(4)：250～253
33 马昕，于海田，袁信，组合导航系统故障检测问题研究，东南大学学报，1999，29(3)，万方数据库下载
34 彭允祥．捷联惯导与导航卫星组合技术的发展趋势，导弹与航运载技术，1999，1：58～62
35 秦永元，张洪钺，汪叔华．卡尔曼滤波与组合导航原理．西北工业大学出版社，1998
36 任思聪．实用惯导系统原理．宇航出版社，1989
37 宋文尧，张牙．卡尔曼滤波．北京：科学出版社，1991．
38 苏惠敏，张明廉，多传感器数据融合中的鲁棒检测技术，北京航空航天大学学报，1999，25(2)
39 魏子卿，GPS现代化与欧洲伽利略系统，卫星应用简报，2000-6
40 吴重光等．仿真技术，北京：化学工业出版社，2000
41 吴捷，任萱，胡小平，郑委，郑冲．双星定姿的建模与仿真，空间科学学报，1999，19(2)：154～159
42 吴淮宁，费元春．不确定离散系统的最优鲁棒滤波，控制理论与应用，1999，16(2)
43 王广运，郭秉义，李洪涛．差分GPS定位技术与应用，北京：电子工业出版社，1996
44 王鸿飞．基于Dampster-Shafer证据理论的柴油机故障诊断，内燃机学报，2000，18(1)
45 王壬林．加速度计，北京：国防工业出版社，1982
46 王旭东，潘科炎，李新峰．当前航天器制导、导航和控制的几个问题，控制工程，1999，2：18～43
47 王永刚，袁建平，王明海．GPS与弹道导弹INS组合制导方案初探，航天控制，1996，2：25～28
48 王艳东，黄继勋，范跃祖．GPS/INS组合系统半实物仿真研究，北京航空航天大学学报，1999，25(3)，万方数据库
49 汪锡桢．国外组合式INS/GPS系统研制开发情况两三例，航天控制，1994，3，53～59
50 闻新，张洪钺，周露，控制系统的故障诊断和容错控制，北京：机械工业出版社，1998
51 许其凤．GLONASS卫星导航系统(一)，军事测绘，2000，1：52～55
52 许其凤．GLONASS卫星导航系统(二)，军事测绘，2000，2：52～55
53 许国桢等，惯性技术手册，北京：宇航出版社，1996
54 吴延忠，李贵琦．地球同步卫星定位．北京：解放军出版社，1992
55 夏常弟，万百五，利用逆系统的故障诊断方法，控制理论与应用，1999，16(1)
56 颜东，张洪钺．捷联导引头制导系统导引律及自适应滤波方案设计，宇航学报，1996，17(1)：8～14
57 颜东．导航/制导系统状态估计方法及容错理论研究．北京航空航天大学博士学位论文．1995．
58 杨元喜．动态系统抗差Kalman滤波，解放军测绘学院学报，1989，14(2)：79～84
59 杨元喜．多种抗差模型的理论基础及比较，大地测量学论文专集，北京：测绘出版社，1999，51～57
60 杨元喜，何海波，徐天河．论动态自适应滤波，测绘学报，2001，30(4)：293-298
61 杨天奇，基于神经网络自适应滤波器的故障检测与诊断，数据采集与处理，2000，15(1)：128～131
62 杨新，王小虎，申公璋，文传源．飞机六度自由模型及仿真研究，系统仿真学报，2000，12(3)
63 杨新民，陶征宇，江华．世界上最小的嵌入式惯导／GPS组合导航系统H-764G的鉴定，惯导与仪表，1997，4，31'42
64 袁信，俞济祥，陈哲．导航系统．航空工业出版社，1993
65 袁信，郑鄂．捷联式惯性导航原理．航空工业出版社，1985
66 袁建平，方群，郑鄂．GPS在飞行器定位导航中的应用．西安：西北工业大学出版社，2000
67 周江文．误差理论，北京：测绘出版社，1979
68 张萍，王桂增，周东毕，动态系统的故障诊断方法，控制理论与应用，2000，17(2)：153～158
69 张汉国，张洪钺．阴止自适应Kalman滤波发散的补救方法[J]．控制与决策，1991，6(1)：45～41．
70 张春华，何传五．惯性技术，北京：科学技术出版社，1987
71 张汉国．分散化估计方法及其在容错导航系统中的应用，北京航空航天大学博士学位论文，1991．
72 张文明，姜文利，周一宇．GPS接收机中DLL分析与仿真，计算机仿真，2002，19(2)：97～100
73 周荻，胡振坤，胡恒章．自适应推广Kalman滤波应用于导弹的被动制导问题，宇航学报，1997，18(4)：32～36
74 周江文．误差理论，北京：测绘出版社，1979
75 朱振乾．统计滤波理论在飞行器制导系统中的应用，航天控制，1993，4：15～22
76 An P E, Healey A J, Park J, Smith S M. Asynchronous Data Fusion For AUV Navigation Via Hearistic Fuzzy Filtering Techniques, In: Proceedings of IEEE Oceans'97, Halifax, 1997
77 Abdelrazak Y, Bakhache B, Nikiforov I. Sequential RAIM: Theory and application to Civil Aviation Needs, 网上下载
78 Agusin R M. Robust Failure Detection for Reentry Vehicle Attitude Control Systems, Journal of Guidance, Control, and Dynamics. 1999, 22(6): 839～845
79 Anderson T W. An Introduction to Multivariate Statistical Analysis, John Wiley & Sons, Inc., 1984
80 Aranda J, Cruz J R, Ruiperez P, Dormido S. Software for Modeling Simulation and Design of Navigation Systems, Math Modelling and Sci. Computing 1993(2): 222-227
81 Berman Z, Powell J D. The Role of Dead Reckoning and Inertial Sensors in Future General Aviation Navigation, In: Proceedings of IEEE
PLANS'98,1998, Las Vegas, 510-517
82 Boris S P, Lawrence D G, Parkinson B W. Autonomous Fault Detection and Removal Using GPS Carrier Phase, IEEE Trans. On Aerospace and Electronic Systems, 1998,34(3) :897-905
83Bakhache B, Nikiforov I. A Sequential RAIM Based on the Civil Aviation Requirements, In: ION GPS'99, Nashville, TN, 1999: 1201-1209
84Baum C W, Veeravalli V V. A Sequential Procedure for Multihypothesis Testing, IEEE Trans. On Information Theory, 1994, 40(6) : 1994-2007
85Baruh H, Choe K. Sensor-Failure Detection Method for Flexible Structures, Journal of Guidance, Control, and Dynamics, 1987, 10(5) : 474-482
86Bar-Shalom Y. On the Track-to-Track Correlation Problem, IEEE Trans. On Automatic Control, 1981,26(2) : 571-572
87Bar-Shalom Y. The Effect of the Common Process Noise on the Two-Sensor Fused-Track Covariance, IEEE Trans. On Aerospace and Electronics System, 1986,22(6) : 803-805
88Bell W B, Gore R Q Cockrell L D. Cascading Filtered DTS Data into a Loosely-Coupled GPS/INS System. In: Proc. of IEEE PLANS'98, 1998,586-583
89Braasch M S. A Signal Model for GPS, NAVIGATION: Journal of The Institute of Navigation, 1990,37(4) : 363-377
90Braasch M S. GPS Multipath Model Validation, In: Proceedings of IEEE PLANS'96, Las Vegas, 1996,672-678
91Brown Ⅲ J E. Ring Laser Gyro/Global Positioning System Navigation improvement Program Plus, In: Proceedings of IEEE PLANS'98, 1998, Las Vegas, 30-36
92Carlson N A Federated Filter for Fault-tolerant Integrated Navigation Systems. In: Proc.ofIEEE PLANS'88,1988,110-119
93Carlson N A. Federated Square Root Filter for Decentralized Parallel Process. IEEE Transactions On Aerospace and Electronic Systems. 1990, 26(3) :517-525
94Carlson N A. Berarducci M. B.. Federated Kalman Filter Simulation Results. NAVIGATION: Journal of The Institute of Navigation. 1994, 41(3) : 297-321
95 Carlson N A. Fedrated Filter for Computer-Efficient, Near-Optimal GPS Integration. In: Proc. of IEEE PLANS'96,1996,306-314
96 Carpenter J R, Bishop R H. Flight-Dafa Results of Estimate Fusion for Spacecraft Rendezvous Navigation from Shuttle Mission STS-69, The Journal of the Astronautical Sciences, 1997,45(3) : 297-319
97Carpenter J R, Bishop R H. Navigation Filter Estimate Fusion for Enhanced Spacecraft Rendezvous, Journal of Guidance, Control, and Dynamics. 1997,20(2) : 338-345
98Carvalho H, Moral P D. Optimal Nonlinear Filtering in GPS/INS Integration, IEEE Transactions on Aerospace and Electronic Systems, 1997,33(3) : 835-849
99 Castanon D A, Teneketzis D. Distributed Estimation Algorithms for Nolinear Systems. IEEE Transactions On Automatic Control. 1985, 30(5) :418-425
100 Chow E Y, Willsky A S. Analytical Redundancy and the Design of Robust Failure Detection System, IEEE Trans. Automatic Control, 1984, 29(3) : 689-691
101 Ching-Fang Lin. Modern Navigation, Guidance, and Control Proceeding, New Jersey: Prentice Hall, 1992
102 Chang K C, Saha R K, Bar-Shalom Y. On Optimal Track-to-Track Fusion, IEEE Transactions on Aerospace and Electronic Systems, 1997, 33(4) : 1271-1276
103 Doyle R S, Harris C J. Multi-Sensor Data Fusion for Helicopter Guidance, 网上下载
104 Douglas R K, Speyer J L. Robust Fault Detection Filter Desige, Journal of Guidance, Control, and Dynamics, 19(1) : 19%
105 Dragalin V P, Tartakovsky A G, Veeravalli V V. Multihypothesis Sequential Probability Ratio Tests-Part I: Asymptotic Optimality, IEEE Trans. On Information Theory, 1999,45(7) : 2448-2461
106 Dragalin V P, Tartakovsky A G Veeravalli V V. Multihypothesis Sequential Probability Ratio Tests-Part II: Accurate Asymptotic Expansions for the Expected Sample Size, IEEE Trans. On Information Theory, 2000,46(4) : 1366-1383
107 Definition of a Yuma Almanac, http://www.navcen.uscg.mil/gps/gpsyuma.htm
108 Definition of a Yuma Almanac, htlpyAvww.navcen.uscg.mil/glonass/glonassyuma.htm
109 Eide P K, Maybeck P S. An MMAE failure detection system for the F-16, IEEE Trans. On Aerospace and Electronic Systems, 1996,32(3) : 1125-1136
110 Elmenreich W. An Introduction to Data Fusion, http://www:vmars.tuwien.ac.at/-wilfried/sfusion/sfusion.html
111 Friedland B. Maximum Likelihood Failure Detection of Aircraft Flight Control Sensors, Journal of Guidance, Control, and Dynamics, 1982,5(5) : 498-503
112 Gelb A. Applied Optimal Estimation. Cambridge: The MI.T Press, 1974
113 Global Positioning System Standard Positioning Service Signal Specification, 2nd Edition 1995
114 GLONASSICD 4． 0,1998
115 Grewal M S, Barrell J, Barth M Application of DGPS/INS to Automobile Navigation with Latency Compensation, In: Proceedings of IEEE PLANS'96, Las Vegas, 1996, 433-436
116 Gebre-Egziabher D, Hayward R C, Powell J D. A Low-Cost GPS/Inertial Attitude Heading Reference System (AHRS) for General Aviation Applications, In: Proceedings of IEEE PLANS'98,1998, Las Vegas, 518-525
117 Greenspan R L. Inertial Navigation Technology From 1970-1995． NAVIGATION: Journal of The Institute of Navigation. 1995, 42(1) :165-182
118 Hardwick C D, Liu J. Characterization of Phase and Multipath Errors for an Aircraft GPS Antenna, NAVIGATION: Journal of The Institute of Navigation, 1996,43(1) : 41-54
119 Harvey R S. Development of A Precision Pointing System Using an Integrated Multi-Sensor Approach, Doctor Thesis of University of Calgary, 1998
120 Horak D T. Failure Detection in Dynamic Systems with Modeling Errors, Journal of Guidance, Control, and Dynamics, 1987, 11(6) : 508-526
121 Harold A, Klotz F. GPS-Aided Navigation and Unaided Navigation on the Joint Direct Attack Munition, In: Proceedings of IEEE PLANS'98,1998, Las Vegas, 412-419
122 Jiang B, Wang J L, Son Y C. Robust Fault Diagnosis for a Class of Linear Systems with Uncertainty, Journal of Guidance, Control, and Dynamics, 1999,22(5) :736-740
123 Julier S J, Uhlmann J K. A Non-divergent Estimation Algorithm in the Presence of Unknown Correlations, Julier 提供, siju@robots.ox.ac.uk
124 Karatsinides S P. Enhancing Filter Robustness in Cascaded GPS-INS Integrations, IEEE Transactions on Aerospace and Electronic Systems, 30(4) : 1994
125 Kose C, Dennis L. Goeckel. Minimum Complexity Sequential Multihypothesis Detection: Weak Sequential Tests, MIT, 2000,网上下载
126 Kerr T. Real-time Failure Detection: ANonlinear Optimization Problem That Yields A Two-elipsoid Overlap Test, Journal of Optimization Theory and Applications, 1977,22(4) : 508-536
127 Kerr T. Comments on "A Chi-square Test for Fault Detection in Kalman Filters", IEEE Trans. On Automatic Control, 1990, 35(11) : 1277-1278
128 Kerr T. Decentralized Filtering and Redundancy Management Failure Detection for Multisensor Navigation. IEEE Transactions on Aerospace and Electronic Systems. 1987,23(1) :83-110
129 Ken Ito, Kazuaki Hoshinoo, Minoru Ito. Differential Positioning Experiment Using Two Geostationary Satellites. IEEE Transaction On Aerospace And Electronic Systems, 1999,35(3) :866-877
130 Kirubarajan T, Bar-Shalom Y, Pattipati K R, Kadar L Ground Target Tracking with Variable Structure MM Estimator, IEEE Transactions on Aerospace and Electronic Systems, 2000,36(1) : 26-46
131 Lala J H. Fault Detection, Isolation, and Reconfiguration in the Fault Tolerant Multiprocessor, Journal of Guidance, Control, and Dynamics, 1986,9(5) : 595-592
132 Lai T L. Sequential Changepoint Detection in Quality Control And Dynamical Systems, Jal Royal Statistical Society B, 1995, 57(4) : 613-658
133 Lai T L. Information Bounds and Quick Detection of Parameter Changes in Stochastic Systems, IEEE Trans. On Information Theory, 1998,44(7) : 2917-2929
134 LefevreHC. The Fiber-Optic Gyroscope (光纤陀螺仪)张桂才，王巍译，北京：国防工业出版社, 2002
135 Li X R, Bar-Shalom Y. Performance Prediction of the Interacting Multiple Model Algorithm, IEEE Transactions on Aerospace and Electronic Systems, 1993,29(3) : 755-771
136 Li X R, Bar-Shalom Y. Design of Interacting Multiple Model Algorithm for Air Traffic Control Tracking, IEEE Transactions on Control Systems Technology, 1993,1,3:186-194
137 Li X R, Bar-Shalom Y. A Recursive Multiple Model Approach to Noise Identification, IEEE Transactions on Aerospace and Electronic Systems, 1994,30(3) : 671-684
138 Li XR, Bar-Shalom Y. Multiple-Model Estimation with Variable Structure, IEEE Transactions on Automatic Control, 1996,41(4) : 1-16
139 Lou X, Willsky A S, Vergheese G C. Optimally Robust Redundancy Relations for Failure Detection in Uncertain Systems. Automatica, 1986,24(3) : 333-344
140 LippW.组合GPS/光纤陀螺陆地导航系统, In: Symposium Gyro Technoloy 1996, Stuttgart, Germany,伊小素译，惯导与仪表, 1997, 4,23-30
141 Mayhew D M. Multi-rate Sensor Fusion for GPS Navigation Using Kalman Filtering, Doctor Thesis of the Virginia Polytechnic Institute and State University, 1999
142 Mirabadi A, Schmid F. Fault Tolerant Train Navigation System Using Multisensor Integration Methods, 2001, (网上交流: Email: cop94am@sheffield.ac.uk)
143 Mirabadi A, Schmid F, Mort N. Fault Detection and Isolation in a Multisensor Train Navigation System, 2001, (网上交流: Email: cop94am@sheffield.ac.uk and f.schmid@sheffield.ac.uk)
144 Merrill W C. Sensor Failure Detection for Jet Engines Using Analytical Redundancy, 1985,8(6) :673-682
145 McMillan J C, Bird J S, Arden DAG Techniques for Soft-Failure Deletion in a Multisensor Integrated System, NAVIGATION: Journal of The Institute of Navigation, 1993,40(3) : 227-248
146 McMillan J C. Sensor Integration Options for Low Cost Position & Altitude Determination,, In: Proceeding of IEEE PLANS'98,1998, Las Vegas, 453-458
147 Murdin D. Data Fusion and Fault Detection in Decentralized Navigation Systems, Master Thesis, Linkoping University, 1998
148 Malladi D P. Speyer J L. A Generalized Shiryayev Sequential Probability Ratio Test for Change Detection and Isolation, IEEE Trans, on Automatic Control, 1999,1522-1534
149 McBumey P W. A Robust Approach to Reliable Real Time Kalman Filtering, In: IEEE PLANS'90, Las Vegas, 1990:549-556
150 Maybeck P S. Reconfigurable Flight Control via Multiple Model Adaptive Control Methods, IEEE Trans. On Aerospace and Electronic Systems, 1991,27(3) : 470-480
151 Maybeck P S, Hanlon P D. Performance Enhancement of A Multiple Model Adaptive Estimator, IEEE Trans. On Aerospace and Electronic Systems, 1995,31(4) : 1240-1253
152 Menke E E, Maybeck P S. Sensor/Actuator Failure Detection in the VISTA F-l6 by Multiple Model Adaptive Estimation, IEEE Trans. On Aerospace and Electronic Systems, 1995,31(4) : 1218-1229
153 Mohamed A H, Schwarz K P. Adaptive Kalman filtering for INS/GPS, Journal of Geodesy, 73(4) : 193-203
154 Merrill W C. Sensor Failure Detection for Jet Engines Using Analytical Redundancy, Journal of Guidance, Control, and Dynamics, 1985, 8(6) : 673-682
155 Maryak J L. Asher M S. Isolating Errors in Models of Complex Systems, 1993,29(2) : 452-462
156 Mazor E, Averbuch A, Bar-Shalom Y, Dayan J. Interacting Multiple Model Methods in Target Tracking: A Survey, EEEE Transactions on Aerospace and Electronic Systems, 1998,34(1) : 103-123
157 Mutambara A. Fully Connected Decentralized Estimation, In: Proceedings of SPIE, Vol. 3209,北京中信所微缩胶片
158 NAVSTAR GPS User Equipment Introduction, Release Edition, 1996
159 Nikiforov I. A Generalized Change Detection Problem, IEEE Trans. On Information Theory, 1995,41(1) : 171-187
160 Nikiforov I. Optimal Sequential Detection And Isolation of Changes In Stochastic Systems, Report of IRISA, 1997,网上下载
161 Nikiforov I. Sequential FSS and Snapshot Approaches to GPS/DGPS Integrity Monitoring, In: ION GPS97,1997:449-458
162 Nikiforov I. Two Strategies in the Problem of Change Detection and Isolation, IEEE Trans. On Information Theory, 1997,43(2) : 770-776
163 Nikiforov I. Quadratic Tests for Detection of Abrupt Changes in Multivariate Signals, IEEE Trans. On Signal Processing, 1999, 47(9) : 2534-2538
164 Nikiforov I. A Simple Recursive Algorithm for Diagnosis of Abrupt Changes in Random Signals, IEEE Trans. On Information Theory, 2000,46(7) : 2740-2744
165 Nikiforov I. A Suboptimal Quadratic Change Detection Scheme, IEEE Trans. On Information Theory, 2000,46(6) : 2095-2107
166 Ndili A, Enge P. GPS Receiver Autonomous Interference Detection, In: Proceedings of IEEE PLANS'98, Las Vegas, 1998,123-129
167 Parkinson B W, James J, Spilker J. Global Positioning System: Theory and Applications, AIAA, INC, 1996
168 Parkinson B W. origins, Evolution, and Future of Satellite Navigation, Journal of Guidance, Control, and Dynamics, 1997,20(1) : 11-25
169 Patton R J, Willcox S W. Parameter-Insensitive Technique for Aircraft Sensor Fault Analysis, Journal of Guidance, Control, and Dynamics, 1987,10(4) : 359-367
170 Patton R J, Chen J. Review of Parity Space Approaches to Fault Diagnosis for Aerospace Systems, Journal of Guidance, Control, and Dynamics, 1994,17(2) : 278-285
171 Poor W A. A Geometric Description of Wander Azimuth Frames, NAVIGATION: Journal of The Institute of Navigation, 1989, 36(3) : 303-318
172 Popp R L, Pattipati K R, Bar-Shalom Y. Shared-Memory Parallelization of the Data Association Problem in Multitarget Tracking, IEEE Transactions on Parallel and Distributed Systems, 1997,8(10) : 993-1005
173 Porter T R H M, Schwarz K P, Adams J R. The Inertial Pipeline Pig: An Autonomous System for Pipeline Monitoring. In: Proc. Of FIG XIX Int Congress. Helsinki, Finland, 1990
174 Qin S J, Li W R Detection and Identification of Faulty Sensors with Maximized Sensitivity, In: Proceedings of the American Control Conference, San Diego, California, 1999:613-617
175 Qin Z X Zhang H Y, Cheng H L, Analysis, Detection and Estimation of Soft failures for Strapdown Inertial Navigation System, In: Proceedings of the American Control Conference, Albuquerque, New Mexico, 1997:1375-1379
176 Ren Da, Ching-Fang Lin. Failure Detection and Isolation Structure for Global Positioning System Autonomous Integrity Monitoring, Journal of Guidance, Control, and Dynamics, 1995,18(2) : 291-297
177 Rao CR. Linear Statistical Inference and Its Applications (Second Edition), John Wiley &Sons, Inc., New York, 1973
178 Rao N. A Fusion Method that Performs Better Than Best Sensor, In: Proceedings of Fusion98,网上下载：请登陆Oak Ridge National Laboratory 网页
179 RichardsRT, SnrvefyLO. GEOSTAR Positioning Analysis. In: Proc. of IEEE PLANS'86,1986,13-19
180 Sage A P, Husa G W. Adaptive Filtering with Unknown Prior Statistics, In: Proceedings of Joint Automatic Control Conference[C]. Boulder CO, 1969．
181 Schmid MF,Mort N. Fault Detection and Isolation in a Multisensor Train Navigation System, 1999
182 Schwarz K P. 惯性技术与GPS的发展及应用,学术报告,王进整理,1992
183 Schwarz K P. Aided Versus Embedded: A Comparison of Two Approaches to GPS/INS Integration, In: Proceedings of IEEE PLANS'94, Las Vegas, 1994,344-322
184 SchanzerG.陀螺漂移对GPS/INS精密组合导航系统综合性能的影响, In: Proceedings of Symposium Gyro Technology, 1991,陈雪东译,惯导与仪表, 47-54
185 Saif M., Guan Y P. ANew Approach to Rovust Fault Detection and Identification, IEEE Trans. On Aerospace and Electronic Systems, 1993,29(3) :685-695
186 Speyer J L, White J E Shiryayev Sequential Probability Ratio Test for Redundancy Management, Journal of Guidance, Control, and Dynamics, 1984,7(5) :588-595
187 Speyer J L. Computation and Transmission Requirements for a Decentralized Linear Quadratic-Gaussian Control System. IEEE
Transactions on Automatic Control. 1979,24(2) :266-269
188 Swanson S R. A Fuzzy Navigational State estimator for GPS/INS Integration, In: Proceeding of IEEE PLANS'98, 1998, Las Vegas, 541-548
189 Shirer H 0． PREPARING NOW FOR THE FUTURE: U.S. Civil Radionavigation Policy and Planning. In: Proc. of IEEE PLANS'98, 1998,69-74
190 Teunissen PJ G Quality Control In Integrated Navigation Systems, In: ION PLANS'90, Los Vegas, 1990: 158-165
191 Tetewsky AK, Soltz A. GPS Matlab Toolbox Review, http://gauss.gge.unb.ca/gpsworld/gpsmatiab.html
192 Talbot N C. High-Precision Real-Time GPS Positioning Concepts: Modeling and Results, NAVIGATION: Journal of The Institute of Navigation, 1991,38(2) : 147-161
193 Julier S J, Uhlmann J K. A Non-divergent Estimation Algorithm in the Presencce of Unknown Correlations, Julier 提供, siju@robots.ox.ac.uk
194 Uhlmann J K. General Data Fusion for Estimates With Unknown Cross Covariances, In: Proceedings of the SPIE Aerosense Conference, 1996, 2755
195 Viswanadham N, Taylor J H, Luce E C. 1987． A Frequency Domain Approach to Failure Detection and Isolation with Application to GE-21 Turbine Engine Control Systems. Control Theory and Advanced Technology, 1987,3(1) : 45-72
196 Vieweg S. Integrity Monitoring and Failure Identification within and Integrated Satellite/Inertial navigation System, In: IEEE PLANS'94, Las Vegas, 1994: 755-764
197 Veervalli V V, Baum C W. Asymptotic Efficiency of A Sequential Multihypothesis Test, IEEE Trans. On Information Theory, 1995,41(6) : 1994-1997
198 Vieweg S. Integrity Monitoring and Failure Identification with an Integrated Satellite / Inertial Navigation System, In: IEEE PLANS'94, 1994:755-761
199 Wang H, Bar-Shalom Y. Precision Large Scale Air Traffic Surveillance Using IMM/Assignment Estimators, IEEE Transactions on Aerospace and Electronic Systems, 1999,35(1) : 255-266
200 Seismic Research Symposium, Southern Methodist University, 2000:674-682
201 Walker B K, Gai E. Fault Detection Threshold Determination Technique Using Markov Theory, Journal of Guidance and Control, 1979, 2(4) : 313-319
202 Wagdi M N. An Adaptive Control Approach to Sensor Failure Detection and Isolation, Journal of Guidance, Control, and Dynamics, 1981, 5(2) : 118-122
203 Wark P. Using a GPS Receiver Monte-Carlo Simulator to Predict RF Inteference Performance, In: Proceedings of ION GPS 97, Kansas City Mo., 1997,1473-1480
204 White N A, Maybeck P S, DeVilbiss S L. Detection of Interference/Jamming and Spoofing in a DGPS-Aided Inertial System, IEEE Trans. On Aerospace and Electronic Systems, 1998,34(4) : 1208-1216
205 Willsky A S, Bello M Q Castanon D A, et, al. Combining and Updating of Local Estimates and Regional Maps Along Sets of One-Dimensional Tracks. IEEE Transaction on Automatic Control. 1982,27(4) :799-812
206 Wu N E, Wang Y Y. Robust Failure Detecton with Parity Check on Filtered Measurements, IEEE Trans. On Aerospace and Electronic Systems 31(1) : 1995:489-491
207 Wei M, Schwarz K P. A Strapdown Inertial Algorithm Using an Earth-Fixed Cartesian Frame. Navigation. 1990(37) : 153-167
208 Wong R V, Schwarz K P, Cannon M E. High-Accuracy Kinematic Positioning by GPS-INS, NAVIGATION: Journal of The Institute of Navigation, 1998, 35(2) : 274286
209 Woodward W A, Sain S R, Gray H L, Fisk M D. Outlier Testing When Some Data Are Missing, In: 21st
210 Woodroofe M. Nolinear Renewal Theory in Sequential Analysis, PA: SLAM, Philadelphia, 1982
211 Yi Bian. GPS Signal Selective Availability-Modeling and Simulation For FAA WAAS IV&V, In: Proceedings of IEEE PLANS'96, Las Vegas, 1996,545-522
212 Zhang Y M, Li X R. Detection and Diagnosis of Sensor and Actuator Failures Using IMM Estimator, IEEE Trans. On Aerospace and
Electronic Systems, 1998,34(4) : 1293-1312
213 Zolgjiadri Ali. An algorithm for real-time failure detection in Kalman filters. IEEE Transactions on Automatic Control, 1996, 41(10) :1537-1539