Minimax failure detection and identification in redundant gyro and accelerometer systems.

Potter, John; Deckert, J. C.

doi:10.2514/3.27753

Cited by 24 publications

(11 citation statements)

References 4 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The proposed configurations are based on the conic configuration which are well known as optimal solutions in the sense of navigation performance, and the basic structures are shown in Figure 1. The optimal cone angles and corresponding optimal orientation vectors which satisfy (12) are determined in the same way as the conventional configuration methods. Only the optimal allocation matrices D o , which satisfy the optimal constraints for minimizing the lever arm effect, are determined in this paper for each case.…”

Section: A Case Studies For the Optimal And Suboptimal Configurationsmentioning

confidence: 99%

“…In addition, various performance indexes, that is, figures of merit (FOM) and test methods have been proposed in order to check the optimality of the configurations. For the FDI performances, the squared-error analysis [1], likelihood tests [10], [11], minimax analysis [12], mean-value test [13], parity test based FDI performance analysis [14], [15], wavelet transform based method [16], and many other algorithms [17]- [20] were proposed.…”

Section: A Backgroundmentioning

confidence: 99%

See 1 more Smart Citation

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Song

Park

2016

IEEE Sensors J.

View full text Add to dashboard Cite

An optimal configuration for a redundant inertial measurement unit (RIMU) minimizing the lever arm effect and the constraints for the optimality are proposed. The proposed configuration provides the allocation of each sensor in an RIMU as well as the orientation, while conventional configurations, which do not consider the lever arm effect, suggest the orientation only. The orientation is fixed, so that the configuration may guarantee the best navigation performance, and the allocation of each sensor is determined for minimizing the lever arm effect and for the densest disposition of the structures. To qualify the navigation performance of a configuration, a novel figure of merit (FOM) indicating the worst navigation performance of an RIMU is proposed first. In general, an FOM, which indicates the averaged error covariance of all the estimation, is used as a navigation performance index. The proposed FOM, however, represents the worst error covariance, which contributes to the determination of a secure configuration against excessive noises. The optimal condition of the proposed FOM is also derived, in which case the proposed configuration guarantees the best navigation performance. Using the proposed FOM, the constraint for obtaining the optimal configuration, which guarantees the best navigation performance and minimizes the lever arm effect, is proposed. The effectiveness of the proposed method is confirmed via case studies and Monte Carlo simulations, which show that the RIMU with the proposed configuration sustains sufficiently high position accuracy in spite of the lever arm effect.Index Terms-Redundant sensors, figure of merit, navigation performance, lever arm effect, optimal configuration, allocation and orientation.

show abstract

Section: A Case Studies For the Optimal And Suboptimal Configurationsmentioning

confidence: 99%

Section: A Backgroundmentioning

confidence: 99%

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Song

Park

2016

IEEE Sensors J.

View full text Add to dashboard Cite

show abstract

“…In the simple onedimensional case faults may remain undetected until they exceed three times the worst-case fault-free errors [8], and although the median value will always remain within the fault-free range, the delay in detecting a fault is often critical, particularly in control applications [2]. In two-or three-dimensional problems, such as a set of skewed sensors used for inertial navigation, the ratio of the undetected errors due to faults to the worst-case fault-free errors is generally much worse and takes the best estimate outside the fault-free range [5,9,10]. Thus there is generally a premium on keeping the fault-free differences as small as possible.…”

Section: Motivesmentioning

confidence: 99%

A review of synchronisation and matching in fault-tolerant systems

Moore¹,

Haynes²

1984

IEE Proc. E Comput. Digit. Tech. UK

View full text Add to dashboard Cite

The paper reviews the reasons for and the problems of synchronising the processors of a faulttolerant system and of matching the data in them. It is known that exact solutions require at least (3t + 1) channels for t-fault-tolerance, but that more economical solutions with only (2t + 1) channels are feasible when assumptions are made which ensure consistent data in the fault-free processors. The assumptions and the efficiencies of previous algorithms are discussed in the light of overall reliability targets, and the relevance of 'malicious' faults and interactive consistency are highlighted. New minimum-hardware solutions are introduced which are particularly suited to microprocessor applications. List of symbolsd -an integer 0 < d < t n = number of channels p, p' = probabilities t = level of fault-tolerance

show abstract

“…The most commonly used approach is by far the parity space (vector) method, but other approaches such as artificial neural networks have also been examined [6]. Indeed, the first FDI algorithms were applied strapdown redundant inertial systems in a dodecahedron configuration [7][8][9]. For example, [9] developed the "minimax" FDI algorithm which enables to test and compare any set of four sensors.…”

mentioning

confidence: 99%

“…Indeed, the first FDI algorithms were applied strapdown redundant inertial systems in a dodecahedron configuration [7][8][9]. For example, [9] developed the "minimax" FDI algorithm which enables to test and compare any set of four sensors. A review and a comparison of earlier FDI algorithms can be found in [10].…”

mentioning

confidence: 99%

Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

Guerrier

Waegli

Skaloud

et al. 2012

IEEE Trans. Aerosp. Electron. Syst.

View full text Add to dashboard Cite

This research presents methods for detecting and isolating faults in multiple MEMS-IMU configurations. First, geometric configurations with n sensor triads are investigated. It is proofed that the relative orientation between sensor triads is irrelevant to system optimality in the absence of failures. Then, the impact of sensor failure or decreased performance is investigated. Three FDI approaches (i.e. the parity space method, Mahalanobis distance method and its direct robustification) are reviewed theoretically and in the context of experiments using reference signals. It is shown that in the presence of multiple outliers the best performing detection algorithm is the robust version of the Mahalanobis distance.

show abstract

Minimax failure detection and identification in redundant gyro and accelerometer systems.

Cited by 24 publications

References 4 publications

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

Optimal Configuration of Redundant Inertial Sensors Considering Lever Arm Effect

A review of synchronisation and matching in fault-tolerant systems

Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

Contact Info

Product

Resources

About