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Fault Detection and Isolation in Multiple MEMS-IMUs Configurations

Authors
Waegli, Adrian
Skaloud, Jan
Published in IEEE Transactions on Aerospace and Electronic Systems. 2012, vol. 48, no. July, p. 2015-2031
Abstract 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.
Keywords FDIMEMSIMURedundancyOptimal geometryOutliers detectionParity space methodRobust Mahalanobis distance
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GUERRIER, Stéphane et al. Fault Detection and Isolation in Multiple MEMS-IMUs Configurations. In: IEEE Transactions on Aerospace and Electronic Systems, 2012, vol. 48, n° July, p. 2015-2031. https://archive-ouverte.unige.ch/unige:16812

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Deposited on : 2011-08-23

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