publication . Book . 2010

EuroCow, the Calibration and Orientation Workshop (Euro- pean Spatial Data Research)

Guerrier, Stéphane; Skalud, Jan; Waegle, A; Victoria-Feser, Maria-Pia;
Open Access English
  • Published: 01 Jan 2010
  • Publisher: Barcelona, Spain
  • Country: Switzerland
Abstract
This research presents methods for detecting and isolating faults in multiple Micro-Electro-Mechanical System (MEMS) Inertial Measurement Unit (IMU) configurations. Traditionally, in the inertial technology, the task Fault Detection and Isolation (FDI) is realized by the parity space method. However, this approach performs poorly with low-cost MEMS-IMUs, although, it provides satisfactory results when applied to tactical or navigation grade IMUs. In this article, we propose a more complex approach to detect outliers that takes into account the shape and size of multivariate data. The proposed method is based on Mahalanobis distances. Such approach has already be...
Subjects
free text keywords: IMU, FDI, MEMS, Redundancy, Outliers detection, Parity space method, Mahalanobis distance, Robust estimation, ddc:332/658, ddc:330
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