Sensors • Vol 20 • No 3
Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction
January 2020 • Shizhuang Wang, Xingqun Zhan, Yawei Zhai, Baoyu Liu
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 …