Sage Journals: Discover world-class research

Abstract

In this paper, a modified chi-square test is proposed to develop an autonomous fault detection and identification system for the navigation system in the lunar lander. The conventional fault detection logics, which is based on state chi-square test have had a limitation on fault identification. The proposed modified chi-square test computes modified chi-square parameter (MCP) by comparing the estimated states which is estimate on local filters to the propagated states. Because the MCP only contains the information of the respective sensor measurement, the MCP from failed measurement is contaminated by the fault. Thus, the MCP from other measurements is not contaminated by the fault, then the MCP from failed sensor can be easily distinguished by finding a diverging MCP signal. Using the proposed method, the fault of the lunar lander can be efficiently detected and isolated.

Keywords

Fault detection integrated navigation federated Kalman filter lunar lander inertial navigation system

Get full access to this article

View all access options for this article.

References

Ely

Heyne

Riedel

. Altair navigation during translunar cruise, lunar orbit, descent, and landing. J Spacecraft Rockets 2012; 49: 295–317.

Patton

Chen

. Observer-based fault detection and isolation: Robustness and applications. Control Eng Pract 1997; 5: 671–682.

Isermann

. Model-based fault-detection and diagnosis – status and applications. Ann Rev Control 2005; 29: 71–85.

Mirabadi A, Mort N and Schmid F. Fault detection and isolation in multisensor train navigation systems. In: Control ′98 UKACC international conference on (Conf Publ No 455), Swansea, UK, 1998, pp.969–974.

Kerr

. Real-time failure detection: A nonlinear optimization problem that yields a two-ellipsoid overlap test. J Optim Theory Appl 1977; 22: 509–536.

. Failure detection of dynamical systems with the state chi-square test. J Guid Control Dyn 1994; 17: 271–277.

Brumback

Srinath

. A fault-tolerant multisensor navigation system design. IEEE Trans Aerosp Electron Syst 1987; AES-23: 738–756.

Brumback

Srinath

. A chi-square test for fault-detection in Kalman filters. IEEE Trans Autom Control 1987; 32: 552–554.

McMillen

Bird

Arden

. Techniques for soft-failure detection in a multisensor integrated system. Navigation 1993; 40: 227–248.

10.

Yun SH, Kang CW and Park CG. Reducing the computation time in the state chi-square test for IMU fault detection. In: 14th international conference on control, automation and systems (ICCAS), Ilsan, Korea, 2014, pp.879–883.

11.

Lawrence PJ Jr and Berarducci MP. Navigation sensor, filter, and failure mode simulation results using the distributed Kalman filter simulator (DKFSIM). In: Position location and navigation symposium, Atlanta, GA, USA, 1996, pp.697–710.

12.

Gao

Krakiwsky

Abousalem

. Comparison and analysis of centralized, decentralized, and federated filters. Navigation 1993; 40: 69–86.

13.

Carlson

Berarducci

. Federated Kalman filter simulation results. Navigation 1994; 41: 297–321.

14.

Carlson

. Federated square root filter for decentralized parallel processors. IEEE Trans Aerospace Electronic Systems 1990; 26: 517–525.

15.

Carlson NA. Federated filter for fault-tolerant integrated navigation systems. In: Position location and navigation symposium, 1988 Record Navigation into the 21st Century IEEE PLANS ′88, Orlando, FL, USA, 1988, pp.110–119. IEEE.

16.

Titterton

Weston

. Strapdown inertial navigation technology, IET, 2004.

17.

Grover

Hwang

. Introduction to random signals and applied Kalman filtering, New York: Wiley, 1992.

18.

Park YB, Jeon HC and Park CG. Analysis of geometric effects on tightly-integrated INS/vision for lunar descent navigation. In: AIAA guidance, navigation, and control conference. American Institute of Aeronautics and Astronautics, 2015.

A soft-failure detection and identification algorithm for the integrated navigation system of lunar lander

Abstract

Keywords

Get full access to this article

References