Fault Tolerant Control in Redundant Inertial Navigation System

Conventional fault detection and isolation technology cannot fully ensure system redundancy features when sensors experience drift in a redundant inertial navigation system. A new fault tolerant control method employs state estimation and state feedback techniques to compensate the sensor drift. How...

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Bibliographic Details
Published in:Mathematical problems in engineering 2013-01, Vol.2013 (2013), p.1-11
Main Authors: Dai, Xiaoqiang, Shi, Zhen, Zhao, Lin
Format: Article
Language:English
Subjects:
Adaptive algorithms
Adaptive control
Adaptive filters
Automation
Computer simulation
Control algorithms
Control systems
Control theory
Drift
Fault detection
Fault tolerance
Fault tolerant
Feedback
Inertial navigation
Kalman filters
Mathematical models
Microelectromechanical systems
Navigation systems
Noise
Noise measurement
Noise sensitivity
Real time
Redundancy
Sensors
State estimation
State feedback
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Summary:Conventional fault detection and isolation technology cannot fully ensure system redundancy features when sensors experience drift in a redundant inertial navigation system. A new fault tolerant control method employs state estimation and state feedback techniques to compensate the sensor drift. However, the method is sensitive to measurement noise characteristics, and the performance of the method nearly depends on the feedback gain. This paper proposes an improved fault tolerant control algorithm, which employs an adaptive extended Kalman particle filter (AEKPF) to deal with unknown noise characteristics and model inaccuracies. In addition, a drift factor is introduced in the improved fault tolerant controlin order to reduce the dependence of compensation system on the feedback gain. Simulation results show that the improved fault tolerant control algorithm can effectively correct the faulty sensor even when the multiple erroneous sensors are producing faulty outputs simultaneously. Meanwhile, the AEKPF is able to solve the problem of unknown non-Gaussian noise characteristics. Moreover, the feedback gain is significantly improved by the drift factor.
ISSN:1024-123X
1563-5147
DOI:10.1155/2013/782617