An Extended H-i/H-infinity Optimization Approach to Fault Detection of INS/GPS-Integrated System

作者：Zhong, Maiying^*; Guo, Jia; Guo, Dingfei; Yang, Zhaohua

来源：IEEE Transactions on Instrumentation and Measurement, 2016, 65(11): 2495-2504.

DOI：10.1109/TIM.2016.2588618

• Fault detection (FD)
• H-i/H-infinity optimization
• inertial navigation system and global position system (INS/GPS) integrated system
• residual generator
• threshold

This paper deals with the problem of robust fault detection (FD) for an integrated system of inertial navigation system and global position system (INS/GPS). Under the assumption of process disturbance and measurement noise being l(2)-norm bounded, a state-space model with potential additive fault is first introduced to describe the error dynamics of the INS/GPS integrated system. For the purpose of the FD, an observer-based FD filter (FDF) is used as a residual generator and the design of the FDF is formulated so as to find an observer gain matrix and a postfilter in the framework of H-i/H-infinity optimization. By utilizing the techniques of innovation analysis and orthogonal projection, a solution to the extended H-i/H-infinity-FDF is given in terms of Riccati recursions. Furthermore, a strategy of residual evaluation is also considered, which concerns the selection of an evaluation function and a threshold. Finally, a flight experiment is implemented to show the effectiveness of the proposed method.

• 出版日期2016-11
• 单位北京航空航天大学; 山东科技大学