A Novel Method of Fault Detection and Identification in a Tightly Coupled, INS/GNSS-Integrated System

Zhang, Fan; Wang, Ye; Gao, Yanbin

doi:10.3390/s21092922

Cited by 11 publications

(5 citation statements)

References 24 publications

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“…In the part, we compare our proposed method with several typical methods to show superiority, which includes the measurement averaging based on post residual (MA-PR), the measurement averaging based on innovation method (MA-INN) and the innovation method (INN) [35]. The simulation takes into account two factors: different levels of SGEs and measurement noises.…”

Section: The Superiority Of the Integrity Methodsmentioning

confidence: 99%

A novel integrity monitoring method for slowly growing errors in inertial navigation system/global navigation satellite system integrated navigation system

Yang,

Zhang,

Wang

et al. 2023

IET Radar Sonar & Navi

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An integrity monitoring of integrated navigation in the presence of slowly growing errors (SGEs) is proposed. SGEs with gradual growth over time are the worst category of latent failures. Tightly coupled inertial navigation system (INS)/Global Navigation Satellite System integration is presented by taking INS errors, bias and drift of receiver clock, baro‐altitude, pseudo‐range errors and ionospheric errors into consideration. Based on the RTCA performance standards DO‐229 and DO‐384, the simplified multi‐filters solution separation is employed for fault detection and calculation of corresponding outputs. For the fault exclusion part, the authors introduce a post pseudo‐range residual and measurement averaging method that is designed to quickly and effectively address SGEs and large measurement noises. Furthermore, the authors have designed a reconstruction logic for the filters that guarantees the continuity of the civil aviation system by considering the variation of visible satellites and historical information. The simulation results demonstrate that the proposed approach satisfies the performance requirements for civil aviation of En‐route and is able to correctly exclude faults and respond quickly in the presence of different levels of SGEs and measurement noises.

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Section: The Superiority Of the Integrity Methodsmentioning

confidence: 99%

A novel integrity monitoring method for slowly growing errors in inertial navigation system/global navigation satellite system integrated navigation system

Yang,

Zhang,

Wang

et al. 2023

IET Radar Sonar & Navi

View full text Add to dashboard Cite

show abstract

“…Therefore, a method is needed to effectively handle and eliminate the aforementioned errors involved. Reference [ 30 ] proposed a new adaptive robust strategy based on Mahalanobis distance to weaken the influence of outlier model bias and outliers in measurements; reference [ 31 ] uses the Variance Shift Outlier Model (VSOM) to detect faults in raw pseudo range data. According to the magnitude of the relevant variance shift, measurements are partially excluded or included in the estimation process.…”

Section: Fusion Localization Algorithmmentioning

confidence: 99%

Research on a Visual/Ultra-Wideband Tightly Coupled Fusion Localization Algorithm

Jiang,

Hu,

Wang

et al. 2024

Sensors

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In the autonomous navigation of mobile robots, precise positioning is crucial. In forest environments with weak satellite signals or in sites disturbed by complex environments, satellite positioning accuracy has difficulty in meeting the requirements of autonomous navigation positioning accuracy for robots. This article proposes a vision SLAM/UWB tightly coupled localization method and designs a UWB non-line-of-sight error identification method using the displacement increment of the visual odometer. It utilizes the displacement increment of visual output and UWB ranging information as measurement values and applies the extended Kalman filtering algorithm for data fusion. This study utilized the constructed experimental platform to collect images and ultra-wideband ranging data in outdoor environments and experimentally validated the combined positioning method. The experimental results show that the algorithm outperforms individual UWB or loosely coupled combination positioning methods in terms of positioning accuracy. It effectively eliminates non-line-of-sight errors in UWB, improving the accuracy and stability of the combined positioning system.

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“…In [10], a fiber-optic approach is introduced, and its accuracy and maintenance cost is studied. The variance shift scheme is formulated in [11] to construct an FD method for a navigation system. In [12], an FD system is developed for switching systems with uncertain switching modes, and the accuracy of the FD method is examined on a three-tank system.…”

Section: Literature Reviewmentioning

confidence: 99%

Non-Singleton Type-3 Fuzzy Approach for Flowmeter Fault Detection: Experimental Study in a Gas Industry

Wang

Tavoosi

Mohammadzadeh

et al. 2021

Sensors

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The main contribution of this paper is to develop a new flowmeter fault detection approach based on optimized non-singleton type-3 (NT3) fuzzy logic systems (FLSs). The introduced method is implemented on an experimental gas industry plant. The system is modeled by NT3FLSs, and the faults are detected by comparison of measured end estimated signals. In this scheme, the detecting performance depends on the estimation and modeling performance. The suggested NT3FLS is used because of the existence of a high level of measurement errors and uncertainties in this problem. The designed NT3FLS with uncertain footprint-of-uncertainty (FOU), fuzzy secondary memberships and adaptive non-singleton fuzzification results in a powerful tool for modeling signals immersed in noise and error. The level of non-singleton fuzzification and membership parameters are tuned by maximum correntropy (MC) unscented Kalman filter (KF), and the rule parameters are learned by correntropy KF (CKF) with fuzzy kernel size. The suggested learning algorithms can handle the non-Gaussian noises that are common in industrial applications. The various types of flowmeters are investigated, and the effect of common faults are examined. It is shown that the suggested approach can detect the various faults with good accuracy in comparison with conventional approaches.

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A Novel Method of Fault Detection and Identification in a Tightly Coupled, INS/GNSS-Integrated System

Cited by 11 publications

References 24 publications

A novel integrity monitoring method for slowly growing errors in inertial navigation system/global navigation satellite system integrated navigation system

A novel integrity monitoring method for slowly growing errors in inertial navigation system/global navigation satellite system integrated navigation system

Research on a Visual/Ultra-Wideband Tightly Coupled Fusion Localization Algorithm

Non-Singleton Type-3 Fuzzy Approach for Flowmeter Fault Detection: Experimental Study in a Gas Industry

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