Fault-Tolerant GPS/INS Navigation System with Application to Unmanned Aerial Vehicle

Laurence H. Mutuel and Jason L. Speyer

Abstract:	A fault-tolerant estimator is obtained from fusing the concept of fault detection with estimation. At the heart of the fault-tolerant estimator is a bank of discrete-time fault detection Ølters. The focus of each Ølter design is to minimize the eÆect of a chosen set of faults on the residual; this fault set is denoted "nuisance" and acts as a disturbance. As the disturbance attenuation bound is set to zero and the eÆect of the nuisance eliminated by state reduction, the transmission of the nuisance is blocked. The reduced-order discrete fault detection Ølter produces estimates uncorrupted by the nuisance fault. Using a residual screening method, the onset of a fault is announced and the fault identiØed. In a bank of fault detection Ølters, one Ølter is designed to be insensitive to the detected fault and therefore, the fault-tolerant state estimate reduces to that uncorrupted estimate. Previous voting schemes relied on statistical tests whereas the faulttolerant estimator is based on a deterministic test on the local Ølter residuals. The performance of such a structure is tested on sensor faults and the quality of estimation is compared to that of a Kalman Ølter.
Published in:	Proceedings of the 13th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2000) September 19 - 22, 2000 Salt Palace Convention Center Salt Lake City, UT
Pages:	1552 - 1560
Cite this article:	Updated citation: Published in NAVIGATION: Journal of the Institute of Navigation
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