다중 센서 항법 시스템에서의 센서 측정 실패감지 시스템에 관한 연구Failure Detection of Multi-Sensor Navigation System

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This study is devote to developing navigation filter for detecting sensor failure in multi-sensor navigation system. In multi-sensor navigation system, Kalman filter is generally used to fuse data of each sensors. Sensor failure is fatal in case that the sensor is used as external measurement of Kalman filter therefore detection and recovery of sensor failure is one the important feature of navigation filter. Generally each sensors have its specific feature in measuring navigational information. Fuzzy theory is proposed to detect external sensor failure and provide valid external measurement to Kalman filter avoiding filter divergence and instability. This idea is applied to Autonomous Underwater Vehicle(AUV) which has two navigation sensor i. e self contained inertial sensor and acoustic external sensor. 2 dimensional simulation result shows acceptable failure detection and recovery
Publisher
한국정밀공학회
Issue Date
1997-05-04
Language
KOR
Citation

한국정밀공학회 1997년도 춘계학술대회, pp.51 - 55

URI
http://hdl.handle.net/10203/124882
Appears in Collection
ME-Conference Papers(학술회의논문)
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