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