An Extended $H_{i}/H_\infty $ Optimization Approach to Fault Detection of INS/GPS-Integrated System
- 16 August 2016
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Instrumentation and Measurement
- Vol. 65 (11), 2495-2504
- https://doi.org/10.1109/tim.2016.2588618
Abstract
This paper deals with the problem of robust fault detection (FD) for an integrated system of inertial navigation system and global position system (INS/GPS). Under the assumption of process disturbance and measurement noise being l 2 -norm bounded, a state-space model with potential additive fault is first introduced to describe the error dynamics of the INS/GPS integrated system. For the purpose of the FD, an observerbased FD filter (FDF) is used as a residual generator and the design of the FDF is formulated so as to find an observer gain matrix and a postfilter in the framework of H i /H ∞ optimization. By utilizing the techniques of innovation analysis and orthogonal projection, a solution to the extended H i /H ∞ -FDF is given in terms of Riccati recursions. Furthermore, a strategy of residual evaluation is also considered, which concerns the selection of an evaluation function and a threshold. Finally, a flight experiment is implemented to show the effectiveness of the proposed method.Keywords
Funding Information
- National Natural Science Foundation of China (61333005, 61421063)
- Research Fund through the Taishan Scholar Project of Shandong Province of China
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