A Highly Fault Tolerant, Dual Inertial Integrated Navigation System (DIINS)

Jeff Bird, J. Chris McMillan, Dale Arden

Abstract:	for a shipbome Dual Inertial Integrated Navigation System (DBNS). Multiple filters are used to enable the applica- tion of sensitive fault detection, isolation and reconfigura- tion @DIR) techniques and to provide high system reliability and navigation accuracy. Measurements orig- inate from two identical marine inertial navigation units (installed fore and aft) with velocity aiding from a water velocity sensor (Doppler speedlog) and GPS, and position aiding from GPS, Loran-C, Omega, Hyperfix and Raynav receivers. DUNS is being designed to integrate any viable subset of these sensors. The DBNS sensor/filter arrangement is driven primar- ily by the requirement for high fault tolerance within the context of optimal sensor integration. Hard sensor failures are, in most cases, easily detected but subtle instrument faults can cause a slow accumulation of error which is difficult to detect, yet potentially as serious as a hard failure. The detection of these so-called soft failures can be accomplished by multiple levels of statistical hypothesis testing on a set of parallel Kalman filters. A candidate configuration will be described in terms of the fault detection techniques that are being investigated. These include the usual sensor data reasonableness and filter residual tests as well as a chi-squared hypothesis testing technique, filter voting and, if required, a Bayesian a posteriori probability estimation technique. The system envisioned in this paper is being designed and built at the Defence Research Establishment Ottawa for the Canadian Navy and is expected to see initial real-time sea trials in 1993.
Published in:	Proceedings of the 1992 National Technical Meeting of The Institute of Navigation January 27 - 29, 1992 Catamaran Resort Hotel San Diego, CA
Pages:	235 - 244
Cite this article:	Bird, Jeff, McMillan, J. Chris, Arden, Dale, "A Highly Fault Tolerant, Dual Inertial Integrated Navigation System (DIINS)," Proceedings of the 1992 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 1992, pp. 235-244.
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