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


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.