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http://yadda.icm.edu.pl:80/baztech/element/bwmeta1.element.baztech-34afe198-76c2-4a84-a90a-d90cf02f838e

Czasopismo

Archiwum Fotogrametrii, Kartografii i Teledetekcji

Tytuł artykułu

Sensitivity analysis of multiple fault test and reliability measures in integrated GPS/INS systems

Autorzy Almagbile, A.  Wang, J.  Ding, W.  Knight, N. 
Treść / Zawartość
Almagbile.pdf
Warianty tytułu
Języki publikacji EN
Abstrakty
EN Based on Kalman filtering, multi-sensor navigation systems, such as the integrated GPS/INS system, are widely accepted to enhance the navigation solution for various applications. However, such integrated systems do not always provide robust and stable navigation solutions due to unmodelled measurements and system dynamic errors, such as faults that degrade the performance of Kalman filtering for such integration. Single fault detection methods based on least squares (snapshot) method were investigated extensively in the literature and found effective to detect the fault at either sensor level or integration level. However, the system might be contaminated by multiple faults simultaneously. Thus, there is an increased likelyhood that some of the faults may not be detected and identified correctly. This will degrade the accuracy of positioning. In this paper multiple fault test and reliability measures based on a snapshot method were implemented in both the measurement model and the predicted states model for use in a GPS/INS integration system. The influences of the correlation coefficients between fault test statistics on the performances of the faults test and reliability measures were also investigated. The results indicate that the multiple fault test and reliability measures can perform more effectively in the measurement model than the predicted states model due to weak geometric strength within the predicted states model.
Słowa kluczowe
PL integracja systemów GPS/INS   filtracja Kalmana   uszkodzenia wielokrotne   miary niezawodności   analiza wrażliwościowa  
EN GPS/INS integration   Kalman filtering   multiple faults   reliability measures   sensitivity analysis  
Wydawca Zarząd Główny Stowarzyszenia Geodetów Polskich
Czasopismo Archiwum Fotogrametrii, Kartografii i Teledetekcji
Rocznik 2011
Tom Vol. 22
Strony 25--37
Opis fizyczny Bibliogr. 11 poz.
Twórcy
autor Almagbile, A.
autor Wang, J.
  • School of Surveying and Spatial Information Systems - University of New South Wales- Sydney – NSW 2052-Australia, jinlin.wang@unsw.edu.au
autor Ding, W.
  • School of Surveying and Spatial Information Systems - University of New South Wales- Sydney – NSW 2052-Australia, weidong.ding@unsw.edu.au
autor Knight, N.
Bibliografia
1. Baarda, W., 1968. A testing procedure for use in geodetic network, Netherlands Geodetic Commission, publications on Geodesy, New Series, Delft, The Netherlands, Vol 2, No 5, pp. 1-97.
2. Förstner, W., 1983. Reliability and discernability of extended Gauss-Markov models, Deutsche Geodätische Kommission (DGK), Report A, No. 98, pp. 79-103.
3. Gikas, V., Cross, P., Ridyard, D., 1999. Reliability analysis in dynamic systems: implications for positioning marine seismic networks, Geophysics, 64 (4), pp. 1014-1022.
4. Hewitson, S., Wang, J., 2010. Extended receiver autonomous integrity monitoring (eRAIM) for GNSS/INS integration, Journal of Surveying Engineering,136 (1), pp. 13-25.
5. Knight, N., Wang, J., Rizos, C., 2010. Generalized measures of reliability for multiple outliers, J Geod, 84, pp. 625-635.
6. Proszynski, W., 2010. Another approach to reliability measures for systems with correlated observations, J Geod, 84, pp. 547-556
7. Salzmann, M., 1993. Least squares filtering and testing for geodetic navigation applications, Netherlands Geodetic Commission, publications on Geodesy, New Series, Delft, The Netherlands No. 37, pp. 1-209.
8. Sukkarieh, S., 2000. Low- Cost, High Integrity, Aided Inertial Navigation Systems for Autonomous Land Vehicles, PhD Thesis, Department of Mechanical and Mechatronic Engineering, The University of Sydney, Australia, pp.1-212.
9. Wang, J., Chen, Y., 1994. On the reliability measure of observations. Acta Geodaetica et Cartographica Sinica, English Edition, pp. 42-51
10. Wang, J., Chen, Y., 1999 Outlier detection and reliability measures for singular adjustment models, Geomat Res Aust, 71, pp. 57-72.
11. Wang, J., Xu, C., Wang, J., 2008 Applications of robust Kalman filtering schemes in GNSS navigation. Int. Symp. on GPS/GNSS, Yokohama, Japan, 25-28 November, pp.308-316.
Kolekcja BazTech
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