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This paper addresses the problem of Fault Detection and Isolation (FDI) for navigation systems equipped with sensors providing inertial measurements and vector observations. Two strategies are proposed. The first one takes advantage of existing hardware redundancy, providing sufficient conditions for the isolation of faults. The second approach exploits the analytical redundancy between the angular...
This paper addresses the problem of attitude and rate gyro bias estimation using Set-Valued Observers (SVOs). We propose a singularity-free solution that exploits rate gyro measurements and vector observations corrupted by bounded noise providing bounds on the attitude of the rigid body and on the bias of the rate gyros. The sensor readings are fused directly by the SVO, without intermediate attitude...
An optimal Set-Valued Observer (SVO) for attitude estimation that merges rate gyro readings with body frame vectorial observations is proposed. The observer provides singularity-free estimates and considers sensor readings corrupted by bounded (but unknown) measurement noise. The suggested solution is an alternative method to the ones available in the literature, with the guarantee that the state...
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