Fault Diagnosis for Navigational Sensors Based on Modulated Gaussian Wavelet Transformation

In order to improve the online fault-detecting capability of multi-sensor integrated navigation system, a MGWT-based fault diagnosis algorithm for navigation sensors was presented based on analysis of characteristics of modulated Gaussian wavelet (MGW). With this method, the effectiveness of each sensor can be directly detected by using the observing variables of the sensors. Some soft faults (such as the anomaly of covariance) can be detected online. Simulation result proved the effectiveness of this method.