Application of Adaptive Estimation Test Method for Redundant Navigation System

Adaptive estimation test (AET) is proposed to detect and isolate the failure. AET is also proposed to estimate the combinations of sensor errors affecting the parity vector and to form a compensated parity vector. The compensated parity vector is used to make FDI decision for improving FDI performance. To illustrate its application, the AET approach is applied to detect and isolate the failure of an optimal mounting configuration of six single-degree-of-freedom sensors. Some results are obtained by comparing AET method with Separated-bias estimation (SBE) method. Simulation results prove that AET method can detect and isolate the failure more effectively than SBE method when several sensors fail simultaneously.