Research on the fault tolerant UKF applied on autonomous navigation

Magnetic field vector is a function of the satellite's position. Autonomous LEO satellite navigation can be achieved based on the measurement data of the onboard three axis magnetometer (TAM). For the orbit estimation algorithm based on the measurement of the geomagnetic field vector, when measurement data influenced by outliers, filtering advents deviation, convergence becomes slow and even diffuses. Based on residual orthogonal UKF (Unscedted Kalman filer) Fault tolerant filtering method, the instant modifying and fault diagnosis are implemented and the filter obtains stronger robustness. Simulation results show the effectivity of the method.