저급 프로세서에 적용 가능한 무인기용 GPS/INS 고장검출 알고리즘 구현

In the CPS/INS integrated system fault detection, algorithm based on a chi-square distribution is commonly used. In this paper, it has been proposed simplified CPS/INS fault detection algorithm that is combined conventional RAIM (Receiver Autonomous Integrity Monitor) and algorithm based on chi-square distribution for UAV using row-grade processor. It use a fault model to verify the proposed algorithm and produced the result.