A Method for Multiple Fault Detection and Isolation of Redundant Inertial Navigation Sensor Configurations

Daniel Skoogh and Anders Lennartsson

Abstract:	A method for fault detection and isolation of sensors in an inertial navigation system is presented, with capability of detecting several simultaneous faults of different magnitude. The method is based on projecting the measurement vector of sensor signals onto the orthogonal complement of the range space of the system matrix. The system matrix is given by the geometrical properties of sensor placements. A theorem is presented, proving that the method will detect and isolate several simultaneous faults, given that the axes of any n sensors of the full sensor set are linearly independent, where n is the navigation dimension. The theorem is given under the assumption of exact arithmetic and noise-free measurement. Practical algorithms are given based on the theorem and the QR-factorisation of the system matrix. The algorithms are tested on simulated inertial navigation system data.
Published in:	Proceedings of IEEE/ION PLANS 2006 April 25 - 27, 2006 Loews Coronado Resort Hotel San Diego, CA
Pages:	415 - 425
Cite this article:	Skoogh, Daniel, Lennartsson, Anders, "A Method for Multiple Fault Detection and Isolation of Redundant Inertial Navigation Sensor Configurations," Proceedings of IEEE/ION PLANS 2006, San Diego, CA, April 2006, pp. 415-425. https://doi.org/10.1109/PLANS.2006.1650631
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