Title :
Quality control in integrated navigation systems
Author :
Teunissen, P.J.G.
Author_Institution :
Dept. of Geodesy, Delft Univ. of Technol., Netherlands
Abstract :
A recursive testing procedure for use in integrated navigation systems is introduced. It can be used in conjunction with the Kalman filter algorithm. Diagnostic tools for inferring the detectability of particular model errors are given. The testing procedure consists of three steps: detection, identification, and adaptation. It can accommodate model errors in both the measurement model and the dynamic model of the integrated navigation system. The tests proposed are optimal in the uniformly-most-powerful-invariant sense. The procedure can accommodate slippages in the mean of the predicted residuals caused by outliers in the data, sensor failures, or switches in the dynamic model. The method is therefore also applicable to the important problem of GPS (Global Positioning System) failure detection and integrity checking
Keywords :
Kalman filters; automatic testing; electronic equipment testing; error detection; fault location; radionavigation; satellite relay systems; Global Positioning System; Kalman filter algorithm; adaptation; detectability; detection; dynamic model; failure detection; identification; integrated navigation systems; integrity checking; measurement model; model errors; quality control; recursive testing; slippages; Adaptation model; Filtering; Filters; Geodesy; Geophysics computing; Mathematical model; Navigation; Quality control; Real time systems; Testing;
Conference_Titel :
Position Location and Navigation Symposium, 1990. Record. The 1990's - A Decade of Excellence in the Navigation Sciences. IEEE PLANS '90., IEEE
Conference_Location :
Las Vegas, NV
DOI :
10.1109/PLANS.1990.66172
