Fault-tolerant compression filters by time-propagated measurement fusion

For fault-tolerant real-time filtering, an efficient two-filter architecture is proposed. In the two-filter architecture, a host filter is operated permanently. A compression filter is intermittently initialized and operated during prescribed time intervals. to handle measurements susceptible to soft faults. New compression filters are derived based on time-propagated measurement concept. The derived de-correlated full error-state compression filter and correlated partial error-state compression filter facilitate a number of different ways of ordering out-of-normal-sequence measurements, provide efficient state estimates with consistent error covariance information, and make fault detection and isolation convenient.