紧耦合定位系统的故障检测与排除方法

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI:10.1109/ICAR.2015.7251521

Joelle Al Hage, Nourdine Ait Tmazirte, Maan El Badaoui El Najjar, D. Pomorski

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引用次数: 10

摘要

定位方法的完整性监测使我们能够保证自主导航系统所需的高完整性定位。已经开发了不同的本地化完整性监测方法。在本文中，我们提出了一种基于信息度量的故障检测和排除(FDE)方法，因为它提供了允许设计残差测试的工具，从而增加了定位的完整性。阐述了基于Kullback-Leibler散度(KLD)的残差检验方法。它集成在FDE架构中，应用于使用紧密耦合的多传感器(GPS和里程表)数据融合方法进行定位。

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Fault detection and exclusion method for a tightly coupled localization system

Integrity monitoring for a positioning method permit us to guarantee a high integrity localization which is needed for an autonomous navigation system. Different approaches for localization integrity monitoring have been developed. In this paper, we propose a Fault Detection and Exclusion (FDE) method based on information metrics since it provides tools that allow designing residual test that increase the integrity of localization. A residual test based on the Kullback-Leibler divergence (KLD) is elaborated. It is integrated in a FDE architecture applied to localization using a tightly coupled multi-sensor (GPS and odometer) data fusion method.

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2015 International Conference on Advanced Robotics (ICAR)

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