제어로봇시스템학회:학술대회논문집
- 2002.10a
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- Pages.32.3-32
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- 2002
Fault Detection and Isolation Performance Analysis of Modified SPRT with respect to Inertial Sensor Errors
- Kim, Jeong-Yong (Chungang Univ.) ;
- Yang, Cheol-Kwan (Chungang Univ.) ;
- Shim, Duk-Sun (Chungang Univ.)
- Published : 2002.10.01
Abstract
We analyze the effect of main inertial sensor errors such as, misalignment, scale factor error and bias on the performance of modified sequential probability ratio test (SPRT) for sequential fault detection and isolation (FDI). The inertial sensor errors cause the modified SPRT method to give false alarm. We use a two-stage KF to obtain a modified parity vector with which the inertial sensor errors can be removed and thus modified SPRT method can be used regardless of inertial sensor errors.
Keywords