Fault detection in sensor information fusion Kalman filter


Okatan A. , HAJIYEV C., Hajiyeva U.

AEU-INTERNATIONAL JOURNAL OF ELECTRONICS AND COMMUNICATIONS, vol.63, no.9, pp.762-768, 2009 (Journal Indexed in SCI) identifier identifier

  • Publication Type: Article / Article
  • Volume: 63 Issue: 9
  • Publication Date: 2009
  • Doi Number: 10.1016/j.aeue.2008.06.003
  • Title of Journal : AEU-INTERNATIONAL JOURNAL OF ELECTRONICS AND COMMUNICATIONS
  • Page Numbers: pp.762-768

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