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AssigneeIllinois Institute of Technology
InventorsSamer Khanafseh, Birendra Kujur, Boris Pervan
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A method of and apparatus for fault detection and exclusion for ranging measurement systems. The method leverages a prior probability of measurement faults by constraining a threat space based on the prior probability of fault type and a fault magnitude. The ranging measurement system can be or include a global navigation satellite system (GNSS), an inertial navigation system (INS), terrestrial navigation, and/or LiDAR. Detecting faults uses an integrated auxiliary sensor and a Kalman filter. Identifying a faulty measurement signal is accomplished by deploying a sequence of detection windows starting at a specified frequency.
A method of fault detection and exclusion for ranging measurement systems, the method comprising leveraging a prior probability of measurement faults by constraining a threat space based on the prior probability of fault type and a fault magnitude.
A method of fault detection and exclusion for ranging measurement systems, the method comprising:
An apparatus for fault detection and exclusion in ranging measurement systems, comprising:
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