Failure detection in hybrid strapdown-INS/GPS
Abstract
In this paper, two new methods are developed to improve the sensitivity of the failure detection system, where the chi-square test is used to monitor the state estimates of the Kalman filter: (1) using two state propagators, which are reset regularly with the data of the Kalman filter to increase their accuracy and so the detection sensitivity of the system, and used as the failure detection reference alternatively to avoid the risk of using the contaminated state propagator as the reference system for failure detection. (2) Monitoring the state estimates of the Kalman filter individually, so that the test statistics most seriously affected by the failures are utilized to enhance detection sensitivity. The effectiveness of the proposed approaches is demonstrated in the failure detection problem of a SDINS(Strapdown Inertial Navigation System)/GPS(Global Positioning System) integrated navigation system. The simulation results show that the failure sensitivity is remarkably increased. The system functions quite well to detect the soft failures in the gyros and accelerometers.
- Publication:
-
AIAA Guidance, Navigation and Control Conference
- Pub Date:
- 1993
- Bibcode:
- 1993gnc..conf.1073D
- Keywords:
-
- Failure Analysis;
- Global Positioning System;
- Hybrid Navigation Systems;
- Inertial Navigation;
- Statistical Tests;
- Strapdown Inertial Guidance;
- Accelerometers;
- Gyroscopes;
- Kalman Filters;
- Sensitivity;
- Simulation;
- Space Communications, Spacecraft Communications, Command and Tracking