Implementation and Integrity Analysis of an Innovation Detector for GNSS Fault Detection in Graph Optimization based SLAM Tightly Coupled with GNSS

2021 ◽  
Author(s):  
Yimin Wei ◽  
Hong Li ◽  
Mingquan Lu
Keyword(s):  
Fault Detection ◽  
Graph Optimization ◽  
Tightly Coupled ◽  
Integrity Analysis

scholarly journals A Novel Method of Fault Detection and Identification in a Tightly Coupled, INS/GNSS-Integrated System

Sensors ◽  
2021 ◽  
Vol 21 (9) ◽  
pp. 2922
Author(s):  
Fan Zhang ◽  
Ye Wang ◽  
Yanbin Gao
Keyword(s):  
Fault Detection ◽  
Parametric Bootstrap ◽  
Integrated System ◽  
Range Data ◽  
Navigation Systems ◽  
Integrated Navigation ◽  
Multiple Faults ◽  
Detection And Identification ◽  
Fault Detection And Identification ◽  
Tightly Coupled

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.

scholarly journals Development and Field Evaluation of Data-driven Whole Building Fault Detection and Diagnosis Strategy

2018 ◽  
Vol 10 (1) ◽  
Author(s):  
Yimin Chen ◽  
Jin Wen
Keyword(s):  
Fault Detection ◽  
Principal Component ◽  
Field Evaluation ◽  
Fault Detection And Diagnosis ◽  
Data Driven ◽  
Machine Learning Techniques ◽  
Component Level ◽  
Automation Systems ◽  
Tightly Coupled ◽  
Detection And Diagnosis

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.

scholarly journals Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 590 ◽  
Author(s):  
Shizhuang Wang ◽  
Xingqun Zhan ◽  
Yawei Zhai ◽  
Baoyu Liu
Keyword(s):  
Fault Detection ◽  
Navigation System ◽  
High Efficiency ◽  
Hypothesis Test ◽  
Global Navigation Satellite Systems ◽  
Measurement Unit ◽  
Decision Strategy ◽  
Integration Model ◽  
State Prediction ◽  
Tightly Coupled

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.

scholarly journals Fault Detection and Exclusion Method for a Deeply Integrated BDS/INS System

Sensors ◽  
2020 ◽  
Vol 20 (7) ◽  
pp. 1844
Author(s):  
Junren Sun ◽  
Zun Niu ◽  
Bocheng Zhu
Keyword(s):  
Fault Detection ◽  
Navigation System ◽  
Satellite System ◽  
Navigation Satellite ◽  
Vector Tracking ◽  
Tightly Coupled ◽  
Tracking Loops ◽  
Deep Integration ◽  
Navigation Service ◽  
Global Navigation Satellite

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.

scholarly journals Identification of Multi-Faults in GNSS Signals using RSIVIA under Dual Constellation

2021 ◽  
Author(s):  
Shuchen Liu ◽  
Jan-Jöran Gehrt ◽  
Dirk Abel ◽  
René Zweigel
Keyword(s):  
Fault Detection ◽  
Satellite System ◽  
Measurement Unit ◽  
Navigation Systems ◽  
Integrity Monitoring ◽  
Hybrid Strategy ◽  
Multiple Faults ◽  
Fault Detection And Identification ◽  
Tightly Coupled ◽  
Gnss Measurements

This publication presents the development of integrity monitoring and fault detection and exclusion (FDE) of pseudorange measurements, which are used to aid a tightly-coupled navigation filter. This filter is based on an inertial measurement unit (IMU) and is aided by signals of global navigation satellite system (GNSS). Particularly, the GNSS signals include global positioning system (GPS) and Galileo. By using GNSS signals, navigation systems suffer from signal interferences resulting in large pseudorange errors. Further, a higher number of satellites with dual-constellation increases the possibility that satellite observations contain multiple faults. In order to ensure integrity and accuracy of the filter solution, it is crucial to provide sufficient fault-free GNSS measurements for the navigation filter. For this purpose, a new hybrid strategy is applied, combining conventional receiver autonomous integrity monitoring (RAIM) and innovative robust set inversion via interval analysis (RSIVIA). To further improve the performance, as well as the computational efficiency of the algorithm, the estimated velocity and its variance from the navigation filter is used to reduce the size of the RSIVIA initial box.  The designed approach is evaluated with recorded data from an extensive real-world measurement campaign, which has been carried out in GATE Berchtesgaden, Germany. In GATE, up to six Galileo satellites in orbit can be simulated. Further, the signals of simulated Galileo satellites can be manipulated to provide faulty GNSS measurements, such that the fault detection and identification (FDI) capability can be validated. The results show that the designed approach is able to identify the generated faulty GNSS observables correctly and improve the accuracy of the navigation solution. Compared with traditional RSIVIA, the designed new approach provides a more timely fault identification and is more computational efficient.

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