Fault detection and isolation in inertial navigation systems with SDRE non-linear filter
نویسندگان
چکیده
To ensure safe operation of unmanned aerial vehicles (UAVs), component hazards need to be dealt with robustly through effective fault diagnosis. The extended Kalman filter (EKF) has proven popular in this realm, though it is known to suffer from linearisation errors that can degrade performance. This paper presents results from initial simulation trials that address sensor fault detection and isolation (FDI) in an inertial navigation system (INS) of the type commonly mounted on smaller unmanned aircraft. We apply the state-dependent Riccati equation (SDRE) filter in this task and compare its performance to the EKF.
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