Fault diagnosis is a key component of navigation integrity assurance for aerial swarms. The redundancy of a navigation system is enhanced with the introduction of observations from optimally configured collaborative partners, thus improving the capabilities of fault detection, identification, and isolation. In this chapter, fault detection, identification, and exclusion based on collaborative integrity augmentation are discussed. Multifault detection based on multiple hypothesis solution separations in collaborative resilient navigation fusion for an aerial swam is proposed, with simulated examples.
Collaborative Fault Detection in Resilient Navigation
Unmanned Syst. Tech.
Resilient Fusion Navigation Techniques: Collaboration in Swarm ; Chapter : 8 ; 173-206
2023-01-01
34 pages
Article/Chapter (Book)
Electronic Resource
English
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