An Integrated Fault Detection Scheme for the Federated Filter

Using the common failure detection reference provided by the federated Kalman filter (FKF), an integrated fault detection scheme for the FKF is developed by checking the consistency between the output of each local sensor and that of a fusion state predictor. With this scheme the state chi-square test and residual chi-square test are integrated together and applied to the fault detection of the FKF. Simulation shows this integrated method is effective and has high sensitivity of fault detection.