Fault detection and exclusion method for a tightly coupled localization system

Author(s):  
Joelle Al Hage ◽  
Nourdine AitTmazirte ◽  
Maan E. El Najjar ◽  
Denis Pomorski
Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 2922
Author(s):  
Fan Zhang ◽  
Ye Wang ◽  
Yanbin Gao

Fault detection and identification are vital for guaranteeing the precision and reliability of tightly coupled inertial navigation system (INS)/global navigation satellite system (GNSS)-integrated navigation systems. A variance shift outlier model (VSOM) was employed to detect faults in the raw pseudo-range data in this paper. The measurements were partially excluded or included in the estimation process depending on the size of the associated shift in the variance. As an objective measure, likelihood ratio and score test statistics were used to determine whether the measurements inflated variance and were deemed to be faulty. The VSOM is appealing because the down-weighting of faulty measurements with the proper weighting factors in the analysis automatically becomes part of the estimation procedure instead of deletion. A parametric bootstrap procedure for significance assessment and multiple testing to identify faults in the VSOM is proposed. The results show that VSOM was validated through field tests, and it works well when single or multiple faults exist in GNSS measurements.


2018 ◽  
Vol 10 (1) ◽  
Author(s):  
Yimin Chen ◽  
Jin Wen

Faults, i.e., malfunctioned sensors, components, control, and systems, in a building have significantly adverse impacts on the building’s energy consumption and indoor environment. To date, extensive research has been conducted on the development of component level fault detection and diagnosis (FDD) for building systems, especially the Heating, Ventilating, and Air Conditioning (HVAC) system. However, for faults that have multi-system impacts, component level FDD tools may encounter high false alarm rate due to the fact that HVAC subsystems are often tightly coupled together. Hence, the detection and diagnosis of whole building faults is the focus of this study. Here, a whole building fault refers to a fault that occurs in one subsystem but triggers abnormalities in other subsystems and have significant adverse whole building energy impact. The wide adoption of building automation systems (BAS) and the development of machine learning techniques make it possible and cost-efficient to detect and diagnose whole building faults using data-driven methods. In this study, a whole building FDD strategy which adopts weather and schedule information based pattern matching (WPM) method and feature based Principal Component Analysis (FPCA) for fault detection, as well as Bayesian Networks (BNs) based method for fault diagnosis is developed. Fault tests are implemented in a real campus building. The collected data are used to evaluate the performance of the proposed whole building FDD strategies.


Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 590 ◽  
Author(s):  
Shizhuang Wang ◽  
Xingqun Zhan ◽  
Yawei Zhai ◽  
Baoyu Liu

To ensure navigation integrity for safety-critical applications, this paper proposes an efficient Fault Detection and Exclusion (FDE) scheme for tightly coupled navigation system of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS). Special emphasis is placed on the potential faults in the Kalman Filter state prediction step (defined as “filter fault”), which could be caused by the undetected faults occurring previously or the Inertial Measurement Unit (IMU) failures. The integration model is derived first to capture the features and impacts of GNSS faults and filter fault. To accommodate various fault conditions, two independent detectors, which are respectively designated for GNSS fault and filter fault, are rigorously established based on hypothesis-test methods. Following a detection event, the newly-designed exclusion function enables (a) identifying and removing the faulty measurements and (b) eliminating the effect of filter fault through filter recovery. Moreover, we also attempt to avoid wrong exclusion events by analyzing the underlying causes and optimizing the decision strategy for GNSS fault exclusion accordingly. The FDE scheme is validated through multiple simulations, where high efficiency and effectiveness have been achieved in various fault scenarios.


Sensors ◽  
2020 ◽  
Vol 20 (7) ◽  
pp. 1844
Author(s):  
Junren Sun ◽  
Zun Niu ◽  
Bocheng Zhu

The Inertial Navigation System (INS) is often fused with the Global Navigation Satellite System (GNSS) to provide more robust and superior navigation service, especially in degraded signal environments. Compared with loosely and tightly coupled architectures, the Deep Integration (DI) architecture has better tracking and positioning performance. Information is shared among channels, and the assistant information from INS helps to reduce the dynamic stress of tracking loops. However, this vector tracking architecture may result in easy propagation of errors among tracking channels. To solve this problem, a Fault Detection and Exclusion (FDE) method for the deeply integrated BeiDou Navigation Satellite System (BDS)/INS navigation system is proposed in this paper. This method utilizes pre-filters’ outputs and integration filter’s estimations to form test statistics. These statistics can help to detect and exclude both step errors and Slowly Growing Errors (SGEs) correctly. The monitoring capability of the method was verified by a simulation which was based on a software receiver. The simulation results show that the proposed FDE method works effectively. Additionally, the method is convenient to be implemented in real-time applications because of its simplicity.


2020 ◽  
Vol 17 (6) ◽  
pp. 172988142097912
Author(s):  
Jun Xiong ◽  
Joon Wayn Cheong ◽  
Zhi Xiong ◽  
Andrew G Dempster ◽  
Shiwei Tian ◽  
...  

A fault-detection method for relative navigation based on Kullback–Leibler divergence (KLD) is proposed. Different from the traditional χ 2-based approaches, the KLD for a filter is following a hybrid distribution that combines χ 2 distribution and F-distribution. Using extended Kalman filter (EKF) as the estimator, the distance between the priori and posteriori data of EKF is calculated to detect the abnormal measurements. After fault detection step, a fault exclusion method is applied to remove the error observations from the fusion procedure. The proposed method is suitable for the Kalman filter-based multisensor relative navigation system. Simulation and experimental results show that the proposed method can detect the abnormal measurement successfully, and its positioning accuracy after fault detection and exclusion outperforms the traditional χ 2-based method.


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