Diagnosability of GNSS/IMU System without Hardware Redundancy

This paper addresses the fault diagnosis problem of sensors of an aeronautical system based on GNSS/IMU. The model considered is a rigid body with 6DoF. Considering its linearized kinematic model, the proposed FDI scheme is based on a generalized bank of observers (GBO) designed with the UIO theory. The fault scenario is composed by multiple but not concurrent faults without any hypothesis on the kind of fault. The structural conditions for fault diagnosability are analytically demonstrated.