FDI considering Two Faults of Inertial Sensors

관성센서의 이중 고장을 고려한 고장 검출 및 분리

  • 김광훈 (서울대학교 전자컴퓨터공학부) ;
  • 박찬국 (서울대학교 기계항공공학부) ;
  • 이장규 (서울대학교 전자컴퓨터공학부)
  • Published : 2004.01.01


Inertial navigation system with hardware redundancy must use FDI(Fault Detection and Isolation) method to remove the influence of faulty sensors. Until now, several FDI methods such as PSA(Parity Space Approach), GLT(Generalized Likelihood ratio Test) and OPT(Optimal Parity vector Test) method are generally used. However, because these FDI methods only consider the situation that the system has one faulty sensor, these methods cannot be directly adapted for the system with two faulty sensors. To solve this problem, in this paper, PSA method is analyzed and based on this result, new FDI method called EPSA is proposed to consider a detection and an isolation of two faulty sensors in inertial navigation system.


  1. J. E. Potter and M. C. Suman, 'Thresholdless redundancy management with arrays of skewed instruments', Integrity in Electronic Flight Control Systems, NATO AGARDOGRAPH-24, pp. 15-1 to 15-25. 1997
  2. A. Ray and R. Luck, 'An Introduction to Sensor Signal Validation in Redundant Measurement Systems,' IEEE Control Systems Magazine, vol. 11, no. 2, pp. 44-49, 1991
  3. A. Ray and M. Desai, 'A redundancy management procedure for fault detection and isolation,' J. Dynamic Systems, Measurement, and Control, pp. 248-254, September, 1986
  4. K. C. Daly, E. Gai and J. V. Harrison, 'Generalized likelihood test for FDI in redundant sensor configuration,' Journal of Guidance and Control, vol. 2, no. 1, pp. 9-17, 1979
  5. H. Jin and H. Y. Zhang, 'Optimal parity vector sensitive to designated sensor fault', IEEE Transactions on Aerospace and Electronic Systems, vol. 35, no. 4, pp. 1122-1128, October, 1999
  6. 유창선, 이상정, 'GPS RAIM에서의 2개 파라미터 고장진단에 대한 연구', 한국 자동제어 학술회의 논문집, October, 2000
  7. R. G. Brown, 'Solution of the two-failure GPS RAIM problem under worst-case bias conditions : parity space approach', Journal of the ION, vol. 44, no. 4, pp. 425-431, Winter, 1997-1998
  8. A. Ray, M. Desai and J. Deyst, 'Fault detection and isolation in a nuclear reactor', J. Energy, vol. 7, pp. 79-85, Jan.-Feb., 1983

Cited by

  1. Two-Faults Detection and Isolation Using Extended Parity Space Approach vol.7, pp.3, 2012,