Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction Article Swipe
Shizhuang Wang
,
Xingqun Zhan
,
Yawei Zhai
,
Baoyu Liu
·
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.3390/s20030590
YOU?
·
· 2020
· Open Access
·
· DOI: https://doi.org/10.3390/s20030590
To ensure navigation integrity for safety-critical applications, this paper proposes an efficient Fault Detection and Exclusion (FDE) scheme for tightly coupled navigation system of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS). Special emphasis is placed on the potential faults in the Kalman Filter state prediction step (defined as “filter fault”), which could be caused by the undetected faults occurring previously or the Inertial Measurement Unit (IMU) failures. The integration model is derived first to capture the features and impacts of GNSS faults and filter fault. To accommodate various fault conditions, two independent detectors, which are respectively designated for GNSS fault and filter fault, are rigorously established based on hypothesis-test methods. Following a detection event, the newly-designed exclusion function enables (a) identifying and removing the faulty measurements and (b) eliminating the effect of filter fault through filter recovery. Moreover, we also attempt to avoid wrong exclusion events by analyzing the underlying causes and optimizing the decision strategy for GNSS fault exclusion accordingly. The FDE scheme is validated through multiple simulations, where high efficiency and effectiveness have been achieved in various fault scenarios.
Related Topics
Concepts
GNSS applications
Filter (signal processing)
Inertial navigation system
Fault (geology)
Fault detection and isolation
Kalman filter
Real-time computing
GNSS augmentation
Inertial measurement unit
Computer science
Fault coverage
Satellite system
Global Positioning System
Navigation system
Engineering
Fault indicator
Artificial intelligence
Inertial frame of reference
Telecommunications
Computer vision
Geology
Electrical engineering
Seismology
Actuator
Quantum mechanics
Electronic circuit
Physics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/s20030590
- https://www.mdpi.com/1424-8220/20/3/590/pdf?version=1580132408
- OA Status
- gold
- Cited By
- 38
- References
- 33
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W3002058140
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W3002058140Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/s20030590Digital Object Identifier
- Title
-
Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State PredictionWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2020Year of publication
- Publication date
-
2020-01-21Full publication date if available
- Authors
-
Shizhuang Wang, Xingqun Zhan, Yawei Zhai, Baoyu LiuList of authors in order
- Landing page
-
https://doi.org/10.3390/s20030590Publisher landing page
- PDF URL
-
https://www.mdpi.com/1424-8220/20/3/590/pdf?version=1580132408Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/1424-8220/20/3/590/pdf?version=1580132408Direct OA link when available
- Concepts
-
GNSS applications, Filter (signal processing), Inertial navigation system, Fault (geology), Fault detection and isolation, Kalman filter, Real-time computing, GNSS augmentation, Inertial measurement unit, Computer science, Fault coverage, Satellite system, Global Positioning System, Navigation system, Engineering, Fault indicator, Artificial intelligence, Inertial frame of reference, Telecommunications, Computer vision, Geology, Electrical engineering, Seismology, Actuator, Quantum mechanics, Electronic circuit, PhysicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
38Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 4, 2024: 10, 2023: 6, 2022: 10, 2021: 5Per-year citation counts (last 5 years)
- References (count)
-
33Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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