Double Fault Detection of Cone-Shaped Redundant IMUs Using Wavelet Transformation and EPSA

A model-free hybrid fault diagnosis technique is proposed to improve the performance of single and double fault detection and isolation. This is a model-free hybrid method which combines the extended parity space approach (EPSA) with a multi-resolution signal decomposition by using a discrete wavelet transform (DWT). Conventional EPSA can detect and isolate single and double faults. The performance of fault detection and isolation is influenced by the relative size of noise and fault. In this paper; the DWT helps to cancel the high frequency sensor noise. The proposed technique can improve low fault detection and isolation probability by utilizing the EPSA with DWT. To verify the effectiveness of the proposed fault detection method Monte Carlo numerical simulations are performed for a redundant inertial measurement unit (RIMU).

[1]  Mark A. Sturza,et al.  Navigation System Integrity Monitoring Using Redundant Measurements , 1988 .

[2]  Duk-Sun Shim,et al.  FDI using Multiple Parity Vectors for Redundant Inertial Sensors , 2006, Eur. J. Control.

[3]  Hong Jin,et al.  Optimal parity vector sensitive to designated sensor fault , 1999 .

[4]  Chan Gook Park,et al.  Calibration of a Redundant IMU , 2004 .

[5]  Jang Gyu Lee,et al.  Extended Parity Space Approach Considering Two-Faults , 2004 .

[6]  James C. Deckert,et al.  Minimax failure detection and identification in redundant gyro and accelerometer systems. , 1973 .

[7]  Ingrid Daubechies,et al.  Ten Lectures on Wavelets , 1992 .

[8]  Aníbal Ollero,et al.  Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors , 2009, Sensors.

[9]  Frédéric Kratz,et al.  Detection and location of gross errors in instruments using parity space technique , 1991 .

[10]  Xiaoli Li,et al.  Discrete wavelet transform for tool breakage monitoring , 1999 .

[11]  Gérard Lachapelle,et al.  A New Approach for Improving Reliability of Personal Navigation Devices under Harsh GNSS Signal Conditions , 2013, Sensors.

[12]  Asok Ray,et al.  A Redundancy Management Procedure for Fault Detection and Isolation , 1986 .

[13]  David L. Donoho,et al.  A First Course in Wavelets with Fourier Analysis , 2002 .

[14]  Duk-Sun Shim,et al.  Best Sensor Configuration and Accommodation Rule Based on Navigation Performance for INS with Seven Inertial Sensors , 2009, Sensors.

[15]  Wonhee Lee,et al.  A Fault Detection Method of Redundant IMU Using Modified Principal Component Analysis , 2012 .

[16]  Fredrik Gustafsson,et al.  A comparison of two methods for stochastic fault detection: the parity space approach and principal components analysis , 2003 .

[17]  K. C. Daly,et al.  Generalized Likelihood Test for FDI in Redundant Sensor Configurations , 1979 .

[18]  Cesare Alippi,et al.  Fault Diagnosis Systems , 2014 .

[19]  Yaguo Lei,et al.  A Method Based on Multi-Sensor Data Fusion for Fault Detection of Planetary Gearboxes , 2012, Sensors.

[20]  Jang Gyu Lee,et al.  Two-Faults Detection and Isolation Using Extended Parity Space Approach , 2012 .

[21]  Cheol-Kwan Yang,et al.  Accommodation Rule of Double Faults for Seven Inertial Sensors , 2008 .

[22]  Peng Chen,et al.  An Intelligent Diagnosis Method for Rotating Machinery Using Least Squares Mapping and a Fuzzy Neural Network , 2012, Sensors.

[23]  김광훈.  An)Adaptive filter design for a fault tolerant navigation system , 2006 .

[24]  K. Daly,et al.  FDI Performance of Two Redundant Sensor Configurations , 1979, IEEE Transactions on Aerospace and Electronic Systems.

[25]  J. C. Wilcox.  Competitive Evaluation of Failure Detection Algorithms for Strapdown Redundant Inertial Instruments , 1974 .

[26]  Duk-Sun Shim,et al.  Accommodation Rule Based on Navigation Accuracy for Double Faults in Redundant Inertial Sensor Systems , 2007 .

[27]  Torsten Jeinsch,et al.  A characterization of parity space and its application to robust fault detection , 1999, IEEE Trans. Autom. Control..

[28]  Andrew K. Chan,et al.  Fundamentals of Wavelets: Theory, Algorithms, and Applications , 2011 .

[29]  Chan Gook Park,et al.  A Calibration Technique for a Redundant IMU Containing Low‐Grade Inertial Sensors , 2005 .