Journal ArticleDOI
Magnetic Compass Fault Detection Method for GPS/INS/Magnetic Compass Integrated Navigation Systems
TLDR
In this paper, a magnetic compass fault detection method for GPS/INS/Magnetic compass integrated navigation systems is proposed, where the fault is assumed to be caused by the hard iron and soft iron effect and modeled as an abrupt change in the magnetic compass output.Abstract:
This paper proposes a magnetic compass fault detection method for GPS/INS/Magnetic compass integrated navigation systems. The fault is assumed to be caused by the hard iron and soft iron effect and modeled as an abrupt change in the magnetic compass output. In order to detect the fault, a test statistic related with only azimuth error measurement is determined. When a fault is detected, the GPS/INS/Magnetic compass integrated navigation system is changed into a GPS/INS integrated navigation system mode. In order to show the validity of the proposed method, computer simulation and van testing are carried out. The simulation and van test results show that the proposed navigation system gives more accurate outputs than the GPS/INS/Magnetic compass without the proposed method.read more
Citations
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Journal ArticleDOI
Multi-Sensor Fusion with Interaction Multiple Model and Chi-Square Test Tolerant Filter.
TL;DR: The paper addresses the sensitivity issues of conventional fault detection solutions and the unavailability of a precisely known system model by jointly designing fault detection and information fusion algorithms and significantly increases the failure sensitivity of the detection system and the overall reliability and accuracy of the integrated navigation system.
Journal ArticleDOI
Approach for Detecting Soft Faults in GPS/INS Integrated Navigation based on LS-SVM and AIME
TL;DR: In this article, a new fault detection method for soft fault detection is developed with the purpose of improving real-time performance, which incorporates Least Squares-Support Vector Machine (LS-SVM) regression theory into AIME.
Journal ArticleDOI
A novel fault detection method for an integrated navigation system using Gaussian Process Regression
TL;DR: In this article, a novel fault detection method for navigation systems is proposed based on Gaussian Process Regression (GPR), which is first used to predict the innovation of a Kalman filter and then particle swarm optimisation is adopted to find the optimal hyper-parameters for the GPR model.
Journal ArticleDOI
Anti-disturbance fault tolerant initial alignment for inertial navigation system subjected to multiple disturbances
Songyin Cao,Lei Guo,Wen-Hua Chen +2 more
TL;DR: In this article, an anti-disturbance fault tolerant alignment approach for a class of inertial navigation systems subjected to multiple disturbances and system faults is proposed, where a mixed dissipative/guarantee cost performance is applied to attenuate the norm-bounded disturbance and optimize the estimation error.
Journal ArticleDOI
An analytical fault diagnosis method for yaw estimation of quadrotors
TL;DR: A new analytical fault diagnosis method is presented for the yaw and yaw rate estimation of a quadrotor that can deal with the faults of both the z-axis gyro and the magnetic sensor by introducing the torque model, which is used as a virtual sensor.
References
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Journal ArticleDOI
A high integrity IMU/GPS navigation loop for autonomous land vehicle applications
TL;DR: The development and implementation of a high integrity navigation system, based on the combined use of the Global Positioning System and an inertial measurement unit (IMU), for autonomous land vehicle applications is described.
Proceedings ArticleDOI
Applications of Magnetoresistive Sensors in Navigation Systems
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Journal ArticleDOI
A Chi-square test for fault-detection in Kalman filters
B. Brumback,M. Srinath +1 more
TL;DR: In this article, the authors proposed a chi-square test for real-time detection of soft failures in navigation systems using Kalman filters based on the overlap between the confidence regions associated with two estimates, one obtained from a Kalman filter using online measurements, and the other based solely on a priori information.
Journal ArticleDOI
Design of a low-cost attitude determination GPS/INS integrated navigation system
TL;DR: The flight test results show that the proposed ADGPS/INS integrated navigation unit gives reliable navigation performance even when anomalous GPS data is provided and gives better navigation performance than a conventional GPS/INS unit.