Distributed Fault Detection for Precise and Robust Local Positioning
Sprache des Titels:
Proc. of the 13th IAIN Congress of Navigation
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.