Fault detection and isolation for sensor information fusion Kalman filter


Okatan A., Hacızade C., Hajiyeva U.

2007 9th European Control Conference, ECC 2007, Kos, Greece, 2 - 05 July 2007, pp.415-421 identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.23919/ecc.2007.7068666
  • City: Kos
  • Country: Greece
  • Page Numbers: pp.415-421
  • Keywords: Fault detection, Fault isolation, Kalman filters, Parallel algorithms, Sensor fusion
  • Istanbul Technical University Affiliated: Yes

Abstract

An approach to the test of the sensor information fusion Kalman filter is proposed. It is based on the introduced statistics of mathematical expectation of the spectral norm of a normalized innovation matrix. The approach allows for simultaneous test of the mathematical expectation and the variance of innovation sequence in real time and does not require a priori information on values of the change in its statistical characteristics under faults. Using this approach, algorithms for test and diagnosis of the sensor information fusion Kalman filter are developed.