CN114076959B - 故障检测方法、装置及系统 - Google Patents

故障检测方法、装置及系统

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Publication number
CN114076959B
CN114076959B CN202010845863.4A CN202010845863A CN114076959B CN 114076959 B CN114076959 B CN 114076959B CN 202010845863 A CN202010845863 A CN 202010845863A CN 114076959 B CN114076959 B CN 114076959B
Authority
CN
China
Prior art keywords
filter
measurement
values
measurement values
fault detection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010845863.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN114076959A (zh
Inventor
姜锐
王磊杰
刘镇波
温丰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Huawei Technologies Co Ltd
Original Assignee
Huawei Technologies Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to CN202010845863.4A priority Critical patent/CN114076959B/zh
Priority to PCT/CN2021/106539 priority patent/WO2022037340A1/fr
Publication of CN114076959A publication Critical patent/CN114076959A/zh
Application granted granted Critical
Publication of CN114076959B publication Critical patent/CN114076959B/zh
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Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
CN202010845863.4A 2020-08-20 2020-08-20 故障检测方法、装置及系统 Active CN114076959B (zh)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202010845863.4A CN114076959B (zh) 2020-08-20 2020-08-20 故障检测方法、装置及系统
PCT/CN2021/106539 WO2022037340A1 (fr) 2020-08-20 2021-07-15 Procédé, appareil et système de détection de défaut

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010845863.4A CN114076959B (zh) 2020-08-20 2020-08-20 故障检测方法、装置及系统

Publications (2)

Publication Number Publication Date
CN114076959A CN114076959A (zh) 2022-02-22
CN114076959B true CN114076959B (zh) 2025-07-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (2)

Country Link
CN (1) CN114076959B (fr)
WO (1) WO2022037340A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114676538B (zh) * 2022-04-01 2023-05-05 昂顿科技（上海）有限公司 智能有源滤波器系统
CN115825999B (zh) * 2023-02-22 2023-05-02 广州导远电子科技有限公司 一种滤波器状态监测方法、装置、电子设备及存储介质
US12455384B2 (en) 2023-02-28 2025-10-28 Novatel Inc. Systems, methods, and media for analyzing multiple filters in a solution domain to identify filter instability
CN116527060B (zh) * 2023-05-29 2024-01-05 北京理工大学 基于事件触发采样的信息压缩与异常检测方法
CN119147013B (zh) * 2024-11-20 2025-02-28 中国人民解放军国防科技大学 Sins/多ldv组合导航系统的故障诊断与隔离方法
CN119224672B (zh) * 2024-11-28 2025-02-25 南京信息工程大学 一种闪电定位仪故障自检测方法、装置及存储介质

Citations (2)

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CN105758427A (zh) * 2016-02-26 2016-07-13 南京航空航天大学 一种基于动力学模型辅助的卫星完好性监测方法
CN110208843A (zh) * 2019-05-21 2019-09-06 南京航空航天大学 一种基于增广伪距信息辅助的容错导航方法

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FR2895073B1 (fr) * 2005-12-20 2008-02-08 Thales Sa Dispositif d'hybridation en boucle fermee avec surveillance de l'integrite des mesures.
FR2964468B1 (fr) * 2010-09-08 2012-09-28 Sagem Defense Securite Procede et dispositif de detection et d'exclusion de pannes satellite multiples dans un systeme gnss
FR2996647B1 (fr) * 2012-10-05 2014-12-12 Sagem Defense Securite Centrale intertielle mettant en oeuvre une navigation hybride par couplage lache integre
FR3026195B1 (fr) * 2014-09-22 2017-05-19 Thales Sa Systeme d'exclusion d'une defaillance d'un satellite dans un systeme gnss
CN104504247B (zh) * 2014-12-09 2017-12-05 沈阳航空航天大学 一种gps双卫星故障的raim方法
CN106679693A (zh) * 2016-12-14 2017-05-17 南京航空航天大学 一种基于故障检测的矢量信息分配自适应联邦滤波方法
CN110646825B (zh) * 2019-10-22 2022-01-25 北京国家新能源汽车技术创新中心有限公司 定位方法、定位系统及汽车
CN111189441B (zh) * 2020-01-10 2023-05-12 山东大学 一种多源自适应容错联邦滤波组合导航系统及导航方法

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CN105758427A (zh) * 2016-02-26 2016-07-13 南京航空航天大学 一种基于动力学模型辅助的卫星完好性监测方法
CN110208843A (zh) * 2019-05-21 2019-09-06 南京航空航天大学 一种基于增广伪距信息辅助的容错导航方法

Also Published As

Publication number Publication date
CN114076959A (zh) 2022-02-22
WO2022037340A1 (fr) 2022-02-24

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