【作者】 夏琳琳；

【导师】 钱华明；

【作者基本信息】 哈尔滨工程大学 ， 导航、制导与控制， 2006， 硕士

【摘要】 现代化的舰船组合导航系统在结构上日趋复杂，其主要利用计算机系统对外部传感器的信息进行综合处理和优化及采用卡尔曼滤波技术给出当前舰船最佳位置、姿态等有关导航信息，供作战、雷达等相关部门的使用。对于任何子系统出现故障，都可能带来毁灭性的后果。因此，系统的可靠性、安全性已成为衡量组合导航系统性能优劣的主要因素。 将故障检测与诊断技术应用于组合导航系统中，可有效地提高组合导航系统的可靠性，保证导航定位的准确性；同时，对系统进行容错控制，又使控制系统增加了冗余能力，即使系统某些部件出现故障，系统仍能按原定的性能安全地完成任务。 本文以舰船组合导航系统为研究对象，分别在理论上和实际应用两个方面，对组合导航系统的进行故障检测与诊断进行了分析和探讨。首先，扼要地介绍了故障检测与诊断技术的历史和发展现状；对组合导航理论进行了系统地概述；分析了组合导航系统故障模式，给出了基于组合导航系统故障检测的X~2检验法，并在此基础上，针对SINS／GPS／DVL组合导航系统，提出了故障诊断方案和容错控制方案，利用双状态X~2检验法对该模型进行了仿真。 其次，以我校综导显控台科研项目为背景，对综导系统故障进行分类，提出了关于网络通信故障诊断、串口通信故障诊断和基于RAM的故障诊断方案；实现了1553B数据网的故障检测与冗余、以太网的故障检测、CAN总线的冗余和串口及RAM故障检测，有效地提高了组合导航系统的安全性和可靠性。更多还原

【Abstract】 The framework of modern voyage integrated navigation system turns to more complicated, it depends mainly on the computer system, though which information from exterior sensors can be disposed and optimized, moreover, it can also give the best position and gesture information of the ships by using Kalman Filter. Then the information can be used for campaign and radar systems. So, if the system has any failure, it will wreck the capability of the systems greatly. Therefore, the security and the reliability has become the main factor of weighing the stand or fall of INS.With the technique of Fault Detection and Diagnosis (FDD )having been used in INS, it improves the reliability of system, ensures the veracity of orientation; At the same time, Since the system adopts Fault Tolerant Controlling (FTC) , INS is improved by adding the redundancy, that is to say, even some parts of the system have any failure, the system can also fulfill the tasks as it always does.This paper aims at the computer system of INS, researching the methods of FDD from the theory and practice separately. Firstly, the history of FDD and its recent development are introduced briefly, the theory of INS is described, the failure mode of INS is analyzed, and x~2 test method on FDD in the field of INS is given, on this condition, it gives the FDD and FTC schemes aiming at the SINS/GPS/DVL systems, using the double state x~2 test to fulfill the experiment.Secondly, this paper is based on the Integrated Navigation Display & Control Console (INDCC) of our university, it focuses the detection on the faults of serial port, network and RAM, accomplishing the faults detecting solution of 1553B Network, Ethernet, CAN, the serial port and RAM. After using these method, the security and the reliability of the computer system of INDCC is raised accordingly.更多还原