Title:Distributed Fault Detection for Precise and Robust Local PositioningAuthor(s):Reimar Pfeil, Klaus Pourvoyeur, Andreas Stelzer, Günter StelzhammerAbstract:For precise and robust positioning it is of utmost importance to detect faulty measurements before they can distort the position solution. This contribution discusses the distributed fault detection of a time difference of arrival (TDOA) local positioning system by using a Kalman filter. A chi-squared test is used for the data evaluation purposes of each individual measurement separately before the measurement data are fused to calculate a position solution. The derived input estimator (IE) is based on a linear model and therefore easy to monitor for false data. The applicability of the presented algorithm to real measurement data is demonstrated.Booktitle:Proc. of the 13th IAIN Congress of NavigationPage Reference:11 page(s)Publishing:10/2009