한국군사과학기술학회지 (Journal of the Korea Institute of Military Science and Technology)

  • 제9권3호
  • /
  • Pages.132-140
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  • 2006
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  • 1598-9127(pISSN)
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  • 2636-0640(eISSN)
한국군사과학기술학회 (The Korea Institute of Military Science and Technology)
권호 표지

예측필터를 이용한 확장칼만필터 고장검출 및 SDINS에의 적용

Fault Detection for Extended Kalman Filter Using a Predictor and Its Application to SDINS

  • 발행 : 2006.09.29
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초록

In this paper, a new fault detection method for the extended Kalman filter, which uses a N-step predictor, is proposed. The N-step predictor performs the only time propagations for N-step intervals without measurement updates and its output is used as a monitoring signal for the fault detection. A consistency between the extended Kalman filter and the N-step predictor is tested to detect a fault. A test statistic is defined by the difference between the extended Kalman filter and the N-step predictor. The proposed method is applied to strapdown inertial navigation system (SDINS). By computer simulation, it is shown that the proposed method detects a fault effectively.

키워드

참고문헌

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