Fault-Tolerant SINS/Doppler Radar/Odometer Integrated Navigation Method Based on Two-Stage Fault Detection Structure
Bo Yang,
Feng Liu,
Liang Xue
et al.
Abstract:To improve the reliability of strapdown inertial navigation system (SINS)/Doppler radar/odometer integrated navigation system, the federated Kalman filter with two-stage fault detection structure is designed, and a fault-tolerant SINS/Doppler radar/odometer integrated navigation method is proposed. Firstly, the pre-fault detection module sets before the local filter, and the residual chi-square test in the carrier coordinate system is selected to detect the abrupt faults of Doppler radar and odometer. Then, th… Show more
Set email alert for when this publication receives citations?
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.