Fault detection in sensor information fusion Kalman filter


Okatan A. , HAJIYEV C., Hajiyeva U.

AEU-INTERNATIONAL JOURNAL OF ELECTRONICS AND COMMUNICATIONS, cilt.63, ss.762-768, 2009 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 63 Konu: 9
  • Basım Tarihi: 2009
  • Doi Numarası: 10.1016/j.aeue.2008.06.003
  • Dergi Adı: AEU-INTERNATIONAL JOURNAL OF ELECTRONICS AND COMMUNICATIONS
  • Sayfa Sayıları: ss.762-768

Özet

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, fault detection algorithm for the sensor information fusion Kalman filter is developed. (C) 2008 Elsevier GmbH. All rights reserved.