Residual based fault detection and exclusion methods applied to Ultra-Wideband navigation

Zabalegui, Paul; Miguel, Gorka De; Goya, Jon; Moya, Iker; Mendizábal, Jaizki; Adin, Iñigo

doi:10.1016/j.measurement.2021.109350

Cited by 9 publications

(16 citation statements)

References 20 publications

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“…Most of the analyzed tests were done in different types of empty rooms [8,32,[40][41][42]. One test was carried out outside-on the roof of the institute, although RTLSs are primarily designed for indoor use [45] and one was done only with the computer simulation of the system [46].…”

Section: Real-time Location Systems Overviewmentioning

confidence: 99%

“…Besides the usage in different environments and conditions, UWB RTLSs have been tested with a different number of tags and anchors. Some studies used only one tag for location [16,22,32,[37][38][39][40][41][42]45], some tested more than tag one simultaneously [1,8,[34][35][36][37]43]. In an experiment by Barbieri et al [43], different RTLSs systems were used simultaneously to test if they interference with each other.…”

Section: Real-time Location Systems Overviewmentioning

confidence: 99%

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Performance-Oriented UWB RTLS Decision-Making Approach

et al. 2022

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When introducing new technologies, companies are repeatedly faced with choosing between solutions from different providers. Regardless of all the good technical characteristics of the technology, if it is chosen inappropriately, it can prove to be a cost driver instead of something that brings added value to the system. Aware of this, we considered selecting a real-time location system (RTLS) based on Ultra-wideband technology in the indoor work environment. In practice and theory, it has been proven that the introduction of the RTLS can have highly positive effects on performance and business sustainability indicators. When reviewing the literature, it was noticed that authors solely focus on the technical properties of the systems and prices when giving guidelines on selecting the optimal RTLS. This article aims to provide advanced guidelines for UWB RTLS selection, proposing a phased selection process which is the main novelty proposed and investigated in this research. The guidelines are based on fragmented recommendations in the scientific literature that have been identified, gathered, considered, and reasonably allocated to the advanced performance-oriented phased selection process. In practice, this approach enables decision-makers to choose the most efficient and most appropriate UWB RTLS for specific logistics systems.

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Section: Real-time Location Systems Overviewmentioning

confidence: 99%

Section: Real-time Location Systems Overviewmentioning

confidence: 99%

Performance-Oriented UWB RTLS Decision-Making Approach

et al. 2022

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“…With the increasing number and variety of sensors in vehicle navigation systems, the possibility of sensor faults is also increasing, resulting in poor system estimation and positioning accuracy. Fault detection, isolation, and recovery (FDIR) methods, which generally obtain system state and identify faults to isolate or restore sensors by determining whether the index of sensor measurements exceeds the target threshold, become significant to the system reliability and safety [21][22][23]. The residual chi-square statistical method is typically applied in navigation fault detection system, and the detection function is constructed to calculate the index through Kalman filter (KF) method, which detects the positioning faults of sensors based on the prediction information and determines whether a fault exists [24].…”

Section: Introductionmentioning

confidence: 99%

Fault Detection and Interactive Multiple Models Optimization Algorithm Based on Factor Graph Navigation System

Wang,

Zeng,

Shao

et al. 2024

Remote Sensing

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Accurate and stable positioning is significant for vehicle navigation systems, especially in complex urban environments. However, urban canyons and dynamic interference make vehicle sensors prone to disturbance, leading to vehicle positioning errors and even failures. To address these issues, an adaptive loosely coupled IMU/GNSS/LiDAR integrated navigation system based on factor graph optimization with sensor weight optimization and fault detection is proposed. First, the factor nodes and system framework are constructed based on error models of sensors, and the optimization method principle is derived. Second, the interactive multiple-model algorithm based on factor graph optimization (IMMFGO) is utilized to calculate and adjust sensor weights for global optimization, which will reduce the impact of disturbed sensors. Finally, a multi-stage fault detection, isolation, and recovery (MSFDIR) strategy is implemented based on the IMMFGO results and IMU pre-integration measurements, which can detect significant sensor faults and optimize the system structure. Vehicle experiments show that our IMMFGO method generally obtains better performance in positioning accuracy by 23.7% compared to adaptive factor graph optimization (AFGO) methods, and the MSFDIR strategy possesses the capability of fault sensor detection, which provides an essential reference for multi-source vehicle navigation systems in urban canyons.

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“…Although the RNP service standards are totally different in various flight phases (Departure, En-route, Arrival and Approach), Global Navigation Satellite System (GNSS) remains the most critical navigation equipment [5,6]. However, GNSS is still vulnerable to several threats, such as interference, jamming and scintillation [7,8], which may lead to degradation of navigation ability. The characteristics of the inertial navigation system (INS) are steady short-term and complete navigation information.…”

Section: Introductionmentioning

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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Residual based fault detection and exclusion methods applied to Ultra-Wideband navigation

Cited by 9 publications

References 20 publications

Performance-Oriented UWB RTLS Decision-Making Approach

Performance-Oriented UWB RTLS Decision-Making Approach

Fault Detection and Interactive Multiple Models Optimization Algorithm Based on Factor Graph Navigation System

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

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