An IMU sensor fault detection method and apparatus for a multiple IMUs and GNSS integrated navigation system is disclosed. The method is based on a decentralized Kalman filter. In a navigation system in which multiple IMU sensors and GNSS sensors are integrated, a fault of an IMU sensor is detected through correlation analysis between fault detection test statistics of each sub-filter consisting of each IMU sensor.An IMU sensor fault can be detected and meet the navigation continuity probability requirement required by the system to support the operation of high-safety autonomous vehicles. By considering the correlation between the sub-filters, the continuity requirement assigned to each sub-filter is relaxed, and the relaxed continuity requirement has a direct effect on the improvement of the navigation system availability, contributing to the increase of the system availability.


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    Titel :

    IMU FAULT MONITORING METHOD AND APPARATUS FOR MULTIPLE IMUS/GNSS INTEGRATED NAVIGATION SYSTEM


    Beteiligte:
    LEE JIYUN (Autor:in) / LEE JINSIL (Autor:in) / KIM DONGWOO (Autor:in) / MIN DONGCHAN (Autor:in) / NAM GIHUN (Autor:in)

    Erscheinungsdatum :

    2021-12-23


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01S RADIO DIRECTION-FINDING , Funkpeilung



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