FAULT-TOLERANT GPS/INS NAVIGATION SYSTEM WITH APPLICATION TO UNMANNED AERIAL VEHICLE

LAURENCE H. MUTUEL, JASON L. SPEYER

Peer Reviewed

Abstract:	A fault-tolerant estimator emerges from the fusion of fault detection and estimation in an architecture centered around a bank of discrete-time observers. Each filter is designed to block the effect on the residual of chosen faults, denoted “nuisances.” Using a residual screening method, a fault onset is announced and its source identified. In the bank, one filter is by design insensitive to the identified fault, and therefore, the overall faulttolerant state estimate reduces to that uncorrupted estimate. The detection performance is independent of the fault signal type (bias, noise, drift, or other), but only rely on the knowledge of how it affects the system model (dynamics and measurement equations). In this sense, this deterministic approach is different from previous voting schemes, which rely on statistical tests. The performance of such a structure is tested on sensor faults. The robustness of the detection/blocking is discussed for turbulence and model mismatch.
Published in:	NAVIGATION: Journal of the Institute of Navigation, Volume 49, Number 1
Pages:	35 - 44
Cite this article:	MUTUEL, LAURENCE H., SPEYER, JASON L., "FAULT-TOLERANT GPS/INS NAVIGATION SYSTEM WITH APPLICATION TO UNMANNED AERIAL VEHICLE", NAVIGATION: Journal of The Institute of Navigation, Vol. 49, No. 1, Spring 2002, pp. 35-44.
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