基于量测一致性的联邦滤波故障检测方法研究

针对联邦滤波器的信息融合特点,提出了一种基于测量一致性的传感器故障检验方法.该方法利用融合状态递推器对各个子传感器的量测预报与各传感器量测之间的偏差构造统计量,进行故障检测,可以实现先检测后滤波,在子滤波器启动之前确定对应传感器量测的有效性.仿真结果表明,该方法具有较高的故障检测灵敏度.

Fault Detection method for Federated Filtering Structure Based on the Consistency Between the Measurements

A new fault detection approach using a fusion state propagator to predict the measurement of each local sensor is presented to detect sensor failures for the federated filtering structure. Failure detection is based on the Chi-square statistic hypothesis test and performed by checking the consistency between the outputs of the local sensors and that of the fusion measurement predictor, which is served as the common failure detection reference. Simulation shows this method is effective and characterized by high fault detection sensitivity.