摘要
针对智能船舶多传感器系统因未知海洋环境干扰和设备间干扰等因素,导致一个或数个传感器产生间歇性随机故障,进而导致融合估计结果出现偏差甚至失真的问题,设计了一种自适应加权融合估值算法,并引入了衰减记忆因子降低旧测量数据对融合估计的影响权重.为增强融合估值器对于量测故障信号的容错性,添加了故障检测与校正模块对量测信号进行检测与校正.为了验证算法的容错性能和融合估计的精度,对带有间歇性随机故障的三传感器系统进行了仿真实验,并与改进前的自适应加权融合结果进行了对比.结果表明:对于带间歇性随机故障的多传感器系统而言,设计的自校正加权融合估计算法不仅具有鲁棒性,而且具有较高的融合精度.
In order to solve the problem that the estimation result of fusion was error or even distorted due to the random intermittent failure of one or several sensors,which resulted from unknown marine environment interference and equipment interference,an improved weighted fusion estimation method was designed,and the fading memory factor was introduced to decrease the effect weight of the old measurement data.And fault detection and correction(FDC) module was added to detect and correct the measurement signals so as to enhance the fault tolerance of the fusion estimator for measuring fault signals.In order to verify the effectiveness of the algorithm and the accuracy of the estimation,three sensor systems with intermittent faults were simulated and compared with the results of fusion estimation method before improvement.It is proved that the proposed fusion estimation method is not only robust to multi-sensor systems with intermittent faults,but also has high fusion accuracy.
引文
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