This paper proposes a new adaptive filter structure containing two subfilters, a fault detection and isolation (FDI) filter, and a main-filter for redundant inertial measurement unit (RIMU)/global positioning system (GPS) integrated navigation system tolerant toward faults of inertial sensors. The purpose of subfilters is compensation of sensor level bias (SLB) of the RIMU during in-flight alignment for successful FDI processing. Also, that of the main-filter is providing of error compensated navigation solution based on the good FDI result. To achieve these purposes, two coordinate frames, sub-body frame (SBF) and master-body frame (MBF), are defined first. Then, two different error models for the RIMU are formulated in the SBF for sensor level compensation and in the MBF for module level compensation, respectively. Based on the formulated error models, an adaptive filter structure is designed. Some numerical simulations are performed to validate the performance of the proposed adaptive filter structure.
Issue Section:
Research Papers
References
1.
Guerrier
, S.
, 2008
, “Integration of Skew-Redundant MEMS-IMU With GPS for Improved Navigation Performance
,” Master's thesis
, EPFL, Lausanne, Switzerland
.2.
Waegli
, A.
, Skaloud
, J.
, Guerrier
, S.
, Pares
, M. E.
, and Colomina
, I.
, 2010
, “Noise Reduction and Estimation in Multiple Micro-Electro-Mechanical Inertial Systems
,” Meas. Sci. Technol.
, 21
, p
. 065201.10.1088/0957-0233/21/6/0652013.
Potter
, J. E.
, and Deckert
, J. C.
, 1972
, “Minimax Failure Detection and Identification in Redundant Gyro and Accelerometer System
,” J. Spacecr.
, 10
, pp. 236
–243
.10.2514/3.277534.
Chien
, T. C.
, and Adams
, M. B.
, 1976
, “A Sequential Failure Detection Technique and Its Application
,” IEEE Trans. Autom. Control
, 21
(5
), pp. 750
–757
.10.1109/TAC.1976.11013635.
Daly
, K. C.
, Gai
, E.
, and Harrison
, J. V.
, 1979
, “Generalized Likelihood Test for FDI in Redundant Sensor Configurations
,” J. Guid. Control
, 2
, pp. 9
–17
.10.2514/3.558256.
Ye
, H.
, Wang
, G.
, and Ding
, S. X.
, 2004
, “A New Parity Space Approach for Fault Detection Based on Stationary Wavelet Transform
,” IEEE Trans. Autom. Control
, 49
(2
), pp. 281
–287
.10.1109/TAC.2003.8228567.
Lee
, W. H.
, Kim
, K. H.
, Park
, C. G.
, and Lee
, J. G.
, 2012
, “Two-Faults Detection and Isolation Using Extended Parity Space Approach
,” J. Electr. Eng. Technol.
, 7
(3
), pp. 411
–419
.10.5370/JEET.2012.7.3.4118.
Lee
, W. H.
, and Park
, C. G.
, 2012
, “A Fault Detection Method of Redundant IMU Using Modified Principal Component Analysis
,” Int. J. Aeronaut. Space Sci.
, 13
(3
), pp. 398
–404
.10.5139/IJASS.2012.13.3.3989.
Potter
, J. E.
, and Suman
, M. C.
, 1997
, “Thresholdless Redundancy Management With Arrays of Skewed Instruments
,” Integrity in Electronic Flight Control Systems, NATO AGARDOGRAPH-224
, pp. 15-11
- 15-25
.10.
Jin
, H.
, and Zhang
, H. Y.
, 1999
, “Optimal Parity Vector Sensitive to Designated Sensor Fault
,” IEEE Trans. Aerosp. Electron. Syst.
, 35
(4
), pp. 1122
–1128
.10.1109/7.80543111.
Guerrier
, S.
, Waegli
, A.
, Skaloud
, J.
, and Victoria-Feser
, M.
, 2012
, “Fault Detection and Isolation in Multiple MEMS-IMUs Configurations
,” IEEE Trans. Aerosp. Electron. Syst.
, 48
(3
), pp. 2015
–2031
.10.1109/TAES.2012.623757612.
Gilmore
, J. P.
, and McKern
, R. A.
, 1972
, “A Redundant Strapdown Inertial Reference Unit (SIRU)
,” J. Spacecr.
, 9
, pp. 39
–47
.10.2514/3.6162813.
Aranda
, S.
, Martinez
, S.
, and Bullo
, F.
, 2005
, “On Optimal Sensor Placement and Motion Coordination for Target Tracking
,” Proceedings of the IEEE International Conference of Robotics and Automation 2005
, Barcelona, Spain
, pp. 4544
–4549
.14.
Harison
, J.
, and Gai
, E.
, 1997
, “Evaluating Sensor Orientations for Navigation Performance and Failure Detection
,” IEEE Trans. Aerosp. Electron. Syst.
, 13
(6
), pp. 631
–643
.10.1109/TAES.1977.30850415.
Sukkarieh
, S.
, Gibbens
, P.
, Grocholsky
, B.
, Willis
, K.
, and Durrnat-Whyte
, H. F.
, 2000
, “A Low-Cost Redundant Inertial Measurement Unit for Unmanned Air Vehicles
,” Int. J. Robot. Res.
, 19
, pp. 1089
–1103
.10.1177/0278364002206799516.
Shim
, D. S.
, and Yang
, C. K.
, 2010
, “Optimal Configuration of Redundant Inertial Sensors for Navigation and FDI Performance
,” Sensors
, 10
, pp. 6497
–6512
.10.3390/s10070649717.
Pittelkau
, M. E.
, 2004
, “RIMU Misalignment Vector Decomposition
,” AIAA/AAS Astrodynamics Specialist Conference and Exhibit
, Providence, RI
.18.
Pittelkau
, M. E.
, 2005
, “Calibration and Attitude Determination With Redundant Inertial Measurement Units
,” J. Guid. Control Dyn.
, 28
(4
), pp. 743
–752
.10.2514/1.704019.
Cho
, S. Y.
, and Park
, C. G.
, 2005
, “A Calibration Technique for a Redundant IMU Containing Low-Grade Inertial Sensors
,” ETRI J.
, 27
(4
), pp. 418
–426
.10.4218/etrij.05.0104.019120.
Farrel
, J. A.
, and Barth
, M.
, 1999
, The Global Positioning System and Inertial Navigation
, McGraw-Hill
, New York
, Chap. 1.21.
Waegli
, A.
, Guerrier
, S.
, and Skaloud
, J.
, 2008
, “Redundant MEMS-IMU Integrated With GPS for Performance Assessment in Sports
,” IEEE/ION Position Location and Navigation Symposium
, Monterey
, CA, pp. 1260
–1268
.22.
Colomina
, I.
, Gimenez
, M.
, Rosales
, J. J.
, Wis
, M.
, Gomez
, A.
, and Miguelsanz
, P.
, 2004
, “Redundant IMUs for Precise Trajectory Determination
,” Proceedings of the 20th ISPRS Congress
, Istanbul
, Turkey
.23.
Seo
, J.
, Lee
, H. K.
, Lee
, J. G.
, and Park
, C. G.
, 2006
, “Lever Arm Compensation for GPS/INS/Odometer Integrated System
,” Int. J. Control Autom.
, Syst., 4
(2
), pp. 247
–254
.24.
Cho
, S. Y.
, and Kim
, B. D.
, 2008
, “Adaptive IIR/FIR Fusion Filter and Its Application to the INS/GPS Integrated System
,” Automatica
, 44
(8
), pp. 2040
–2047
.10.1016/j.automatica.2007.11.00925.
Kim
, K. H.
, Lee
, J. G.
, and Park
, C. G.
, 2009
, “Adaptive Two-stage Extended Kalman Filter for a Fault Tolerant INS-GPS Loosely Coupled System
,” IEEE Trans. Aerosp. Electron. Syst.
, 45
(1
), pp. 125
–137
.10.1109/TAES.2009.4805268Copyright © 2014 by ASME
You do not currently have access to this content.
