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Research on Wavelet Singularity Detection Based Fault-Tolerant Federated Filtering Algorithm for INS/GPS/DVL Integrated Navigation System

Author

Listed:
  • Jianhua Cheng
  • Daidai Chen
  • Rene Landry Jr.
  • Lin Zhao
  • Dongxue Guan

Abstract

Soft faults in navigation sensors will lead to the degradation of the accuracy and reliability of integrated navigation system. To solve this problem, a wavelet analysis and signal singularities based soft fault detection method are given out. To find signal singularities and detect the faults, the modulus maxima values are calculated after the wavelet transform of original signal. By calculating the Lipschitz exponent using the modulus maxima value at the fault point, the fault types are distinguished. Then, a fault-tolerant federated filtering algorithm for the calibration of INS/GPS/DVL integrated navigation system is proposed. Simulations are conducted and results show that sensor soft faults can be detected accurately. By effectively isolating the fault and refactoring information, the accuracy and reliability of navigation system are improved.

Suggested Citation

  • Jianhua Cheng & Daidai Chen & Rene Landry Jr. & Lin Zhao & Dongxue Guan, 2014. "Research on Wavelet Singularity Detection Based Fault-Tolerant Federated Filtering Algorithm for INS/GPS/DVL Integrated Navigation System," Journal of Applied Mathematics, Hindawi, vol. 2014, pages 1-8, August.
    • Handle: RePEc:hin:jnljam:825726
    DOI: 10.1155/2014/825726
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