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

被引：0
|
作者：
Scheding, S [1 ]
Nebot, E [1 ]
Durrant-Whyte, H [1 ]
机构：
[1] Univ Sydney, Dept Mech Engn, Sydney, NSW 2006, Australia
来源：
1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper provides an analysis of Kalman Alter 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.
引用
收藏
页码：2217 / 2222
页数：4
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