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In the case of GNSS fault, the altitude error of INS/Barometric altimeter (BA)/GNSS integrated navigation system increases significantly. To improve the performance of vertical channels, a novel multi-sensor altitude data fusion scheme named as fault-tolerant INS/BA/GNSS integration by means of chi-square test is developed. The system model of the proposed integrated navigation system is established based on 3rd order baro-inertial damping loop. Moreover, the altitude data of GNSS needs to be checked by the chi-square fault-detection before entering the integrated navigation. Finally, the simulation is conducted and the performance of fault-tolerant multi-sensor altitude data fusion scheme is compared with that of INS/BA/GNSS integration. The results clearly confirm that the proposed integrated navigation system has stronger stability and higher accuracy.

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A Fault-Tolerant Multi-sensor Altitude Data Fusion Scheme Based on Chi-Square Test

  • 会议论文

  • 发表日期：

    2025年

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  • Bingzhi Su,
  • Lei Li,
  • Hongwei Zhang,
  • Quanrong He

摘要

In the case of GNSS fault, the altitude error of INS/Barometric altimeter (BA)/GNSS integrated navigation system increases significantly. To improve the performance of vertical channels, a novel multi-sensor altitude data fusion scheme named as fault-tolerant INS/BA/GNSS integration by means of chi-square test is developed. The system model of the proposed integrated navigation system is established based on 3rd order baro-inertial damping loop. Moreover, the altitude data of GNSS needs to be checked by the chi-square fault-detection before entering the integrated navigation. Finally, the simulation is conducted and the performance of fault-tolerant multi-sensor altitude data fusion scheme is compared with that of INS/BA/GNSS integration. The results clearly confirm that the proposed integrated navigation system has stronger stability and higher accuracy.