The detection of faults in navigation systems: a frequency domainapproach
Scheding, S.; Nebot, E.; Durrant-Whyte, H.
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Volume 3, Issue , 16-20 May 1998 Page(s):2217 - 2222 vol.3
Digital Object Identifier   10.1109/ROBOT.1998.680653
Summary:This paper provides an analysis of Kalman filter based systems with respect to fault detection. By using frequency domain techniques, a metric is developed that describes the detectability of a fault by showing how a fault is transmitted to the filter innovations (if at all). Through experiment, it is shown that redundancy must be employed for guaranteed detection of faults, and that unlike sensors should be used. Further, it is shown that modelling errors can be treated within the same framework as “hard” actuator or sensor faults

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