使用多組卡爾曼濾波器於GPS衛星故障偵測與隔離

GPS Satellite Fault Detection and Exclusion Using Bank of Kalman Filters

李嘉政(Chia-Cheng Lee)

指導教授 ： 張帆人

共同指導教授 ： 王立昇(Li-Sheng Wang)

國立臺灣大學/電機資訊學院/電機工程學研究所/碩士(2004年)

https://doi.org/10.6342/NTU.2004.01665

摘要

無資料

關鍵字

卡爾曼濾波器

並列摘要

Abstract
In this thesis, a new approach based on the bank of Kalman filters is proposed to reduce the fault detection time and the incorrect exclusion rate. The dynamic behavior of the failure vector can be described as P-V (position-velocity) model。By applying the bank of the Kalman filters, the updated fault value can be obtained. Furthermore, the test statistic can be constructed from the fault value. By hypothesis testing, the detection threshold under a given false alarm rate can be calculated directly. Simulation results show that in comparison with the parity-space method, the best improvement of percentage for average detection time is 84.3% and the best improvement of percentage for incorrect exclusion rate is 100% under the step-type failure Also the best improvement of percentage for average detection time is 45.6% and the best improvement of percentage for incorrect exclusion rate is 100% under the ramp-type failure.. The method of the bank of the Kalman filters is better than the method of the parity-space method both in average detection time and incorrect exclusion rate when the fault value is small. Both methods are almost the same in detection time when the fault value is big. Therefore by use of the bank of Kalman filters can monitor the small fault value to keep GPS working continuously. At the end of thesis the concept of the modified bank of Kalman filters is proposed to reduce the number of Kalman filters. From the observerbility analysis, the upper bound of the number of satellites to be monitored by one Kalman filter is obtained.

並列關鍵字

Kalman Filter

參考文獻

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