Fault Detection in the Frequency Domain: Designing Reliable Navigation Systems
Conference Paper, Proceedings of 1st International Conference on Field and Service Robotics (FSR '97), pp. 68 - 73, December, 1997
Abstract
This paper provides an analysis of Kaiman filter based systems with respect to fault detection. By using frequency domain techniques, a metric is developed that describes the detectability of a fault by showing how a sensor fault is transmitted to the filter innovations (if at all). To increase detectability, it is shown that redundancy must be employed, and that unlike sensors should be used. Examples are provided throughout to illustrate the various concepts.
BibTeX
@conference{Scheding-1997-16376,author = {Steve Scheding and E. Nebot and H. Durrant-Whyte},
title = {Fault Detection in the Frequency Domain: Designing Reliable Navigation Systems},
booktitle = {Proceedings of 1st International Conference on Field and Service Robotics (FSR '97)},
year = {1997},
month = {December},
pages = {68 - 73},
}
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