The detection of faults in navigation systems: a frequency domain approach

Author

Scheding, S. ; Nebot, E. ; Durrant-Whyte, H.

Author_Institution

Dept. of Mech. Eng., Sydney Univ., NSW, Australia

Volume

3

fYear

1998

fDate

16-20 May 1998

Firstpage

2217

Abstract

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

Keywords

Kalman filters; computerised navigation; fault diagnosis; filtering theory; frequency-domain analysis; mobile robots; redundancy; Kalman filter based systems; actuator faults; fault detectability; fault detection; frequency domain approach; modelling errors; navigation systems; redundancy; sensor faults; Equations; Fault detection; Fault diagnosis; Filters; Frequency domain analysis; Navigation; Remotely operated vehicles; State-space methods; Technological innovation; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on

Conference_Location

Leuven

ISSN

1050-4729

Print_ISBN

0-7803-4300-X

Type

conf

DOI

10.1109/ROBOT.1998.680653

Filename

680653