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The Key Technology Research on Distributed Navigation System in Fault Tolerant Mechanism

Author: ZhangJiaLin
Tutor: ZhaoLin
School: Harbin Engineering University
Course: Navigation,Guidance and Control
Keywords: distributed navigation system fault-tolerance mechanism war-game system peer to peer nodes group fault tolerance Agent model
CLC: TN966
Type: PhD thesis
Year: 2013
Downloads: 103
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Abstract


It is necessary to improve the disaster recovery and fault tolerance of the distributednavigation system in order to continue to complete the navigation task and the operations planof the distributed navigation system when the CPS failure or signal interruption happens. Thatis to study the key aspects of fault tolerant which has four aspects: the simulation platform ofdistributed fault tolerant navigation, the data structure of navigation information storage, thecommunication protocol of navigation node, and the fault-tolerant algorithms of distributednavigation system. Because the nature of the fault tolerance mechanisms is the ability tocontinue to perform the required function when there is failure in system and the ability tonavigate based on positioning data acquired by GPS in distributed navigation system,effective management and rational utilization of the GPS positioning data can immediatelyrestore the communication and navigation function of each node in the distributed navigationsystem when the GPS signal is interrupted.This article is center on how to use the existing GPS ‘vestiges’ in the distributednavigation system to communicate information and path finding navigation. The essay mainlygives a deep research and improvement of the simulation platform of distributed fault tolerantnavigation and the fault-tolerant algorithms of the distributed navigation system, in order tomeet the requirements of the fault-tolerant distributed navigation system. The main researchcontent of the paper is as follows:1.Using the war-game system to simulate the distributed navigation system fault-tolerantalgorithm. As the traditional war-game system used the artificial driving mode, that is thecommunication interaction of the objects is all realized by the artificial driving mode. Thetraditional war-game system needs to complete a large amount of work which leads to theignorance of the interference factors in the system and a serious distortion when thesimulation verification of the fault-tolerant navigation algorithm is done. So we introduce thismessage-driven mechanism into the war-game system structure and function modules whichcan solve the problem of driving automated and communication between the objects. Also thepaper designs the human-machine interface module, message-driven module and the structureof board and pieces. The unit pawn nodes are introduced in the structure and properties of thenavigation data to adapt to the fault-tolerant algorithm based on the GPS ‘remnants’; At the same time large amount of the simulation test interfaces are added in order to testdifferent navigation algorithm. Using the war-game system simulation tests the time of taskcomplement reduced about50%, artificial intervention times is25%compared with thetraditional one and the CPU load is reduced by15%.2.Study the node fault-tolerant navigation algorithm in the mobile ad network(GVDN).Eachnode in the system will separate from GPS signal in the event of fault. Trek and otherproblems will appear without the continuing the navigation. And also the mobile and hocnetwork can support the communication of node dynamic without depending on the fixedcommunication facilities. It also can control the flow. So present a fault-tolerant navigationalgorithm based mobile ad hoc networks, peer-to-peer node, in order to solve the problem offault-tolerant distributed navigation system. The algorithm based on the GPS ‘vestiges’ databefore the fault this algorithm designs the data structure of ‘remnants’ storing, systemfault-tolerant communication protocol, the electric map interface, man-machine interfaces,and peer node interaction protocols and give the algorithm procrsses. In’vestiges’ collectionand the processing section this algorithm uses na ve Bayesian classification to classify the‘vestiges’ and the key point and in the road predict ang assess section the algorithm uses theintelligent curve recognition algorithm to judge the similarity of the road or the proper road.Though the war game system simulation test the agreement has a strong anti-deadlock ability,the average communication channel occupancy rate doesn’t reach the peak and the averageamount of memory usage is controlled within10M.And also consumption and CPUutilization rate are decreased.3.Study the group distributed fault-tolerant navigation algorithm(GFTN). Because thenode fault-tolerant navigation algorithm is in the large-scale distributed navigation systemwhich has a large number of nodes, the swarm intelligence theory is used to sole the globaloptimization problems of the system in order to adapt group node fault-tolerant navigation ofdistribution group, though the algorithm is higher precision it is easy to run out of systemresources. Based on the design for the architecture, the functional modules and the datastructures, the interaction protocols and the packet structure of the algorithm, this article putsforward the storage of the remnants by the location, improves the sliding window to forwardand use the datas, using the datas and solving the problem of single pilot node capacity,widely distributed notes in the group and the large communication capacity. It puts forwardthe packet ant colony algorithm which makes the nodes of the same set choose the same orsimilar peer-road or regional as much as possible so that the contradiction of more mobilenodes and fewer passable path. It also comes up with the program of sharing information within the group and solves the problems of double counting in the navigation process.4.In the simulation of the simulation of the GVDN and GFTN algorithm, the reactiveAgent system structure is used to simulate, which avoids the complex logic verification andsets the attributes of agent model, processing and action rules. The test shows that the agentmodel simulation efforts are small, the availability is high, a large scale virtual scenes can besimulated, more navigation objects can be contained more and in the system performance ithas the advantage of stability and low consumption.

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