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.


    Access

    Download


    Export, share and cite



    Title :

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


    Contributors:
    LEE JIYUN (author) / LEE JINSIL (author) / KIM DONGWOO (author) / MIN DONGCHAN (author) / NAM GIHUN (author)

    Publication date :

    2021-12-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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



    Model-Based Fusion of GNSS and Multiple-IMUs

    Sharma, Aman / Gilgien, Simon / Skaloud, Jan | IEEE | 2024



    Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

    Guerrier, S. / Waegli, A. / Skaloud, J. et al. | IEEE | 2012


    Research on Integrity Monitoring of GNSS/AHRS Integrated Navigation

    Ye, Qiwei / Zhang, Xin / Guo, Chuanpeng et al. | Springer Verlag | 2022


    Research on Integrity Monitoring of GNSS/AHRS Integrated Navigation

    Ye, Qiwei / Zhang, Xin / Guo, Chuanpeng et al. | TIBKAT | 2022