Fault detection using redundant navigation modules
2006 (English)In: SAFEPROCESS 2006: 6th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, 2006, 522-527 p.Conference paper (Refereed)
Mobile robots and other moving vehicles need to know their position with a certain level of confidence. In this paper, a method is proposed to handle faults in the navigation system by considering the outputs of existing navigation modules rather than processing sensor data directly. The proposed method needs only a simple model for drift and noise, an extended Kalman filter and a CUSUM test. It can handle position information given in different coordinate systems and does not require any modification of existing navigation modules. Promising experimental results are shown.
Place, publisher, year, edition, pages
2006. 522-527 p.
, IFAC Proceedings Volumes (IFAC-PapersOnline), ISSN 14746670 ; 6
Computer and Information Science Control Engineering
IdentifiersURN: urn:nbn:se:kth:diva-52882ScopusID: 2-s2.0-79961143895ISBN: 978-390266114-2OAI: oai:DiVA.org:kth-52882DiVA: diva2:468083
6th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes, SAFEPROCESS 2006. Beijing. 29 August 2006 - 1 September 2006
QC 201112202011-12-202011-12-202013-09-05Bibliographically approved