We present two alternative methods for fault detection and isolation (FDI) with redundant Microelectromechanical system (MEMS) inertial measurement units (IMUs) in inertial navigation systems (INS) based on nonlinear observers (NLOs). The first alternative is based on the parity space method, while the second is expanded with quaternion-based averaging and FDI. Both alternatives are implemented and validated using data gathered in a full-scale experiment on an offshore vessel. Data from three identical MEMS IMUs and the vessel's own industrial sensors are used to verify the methods' FDI capabilities. The results reveal that when it comes to FDI of the IMUs' angular rate sensors, there are differences between the two methods. The navigation algorithm based on quaternion weighting is essentially unaffected by the failure of an angular rate sensor, while the parity-space-method-based alternative experiences a perturbation.
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July 2018
Research-Article
Redundant MEMS-Based Inertial Navigation Using Nonlinear Observers
Robert. H. Rogne,
Robert. H. Rogne
Department of Engineering Cybernetics,
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: robert.rogne@ntnu.no
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: robert.rogne@ntnu.no
Search for other works by this author on:
Torleiv. H. Bryne,
Torleiv. H. Bryne
Department of Engineering Cybernetics,
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: torleiv.h.bryne@ntnu.no
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: torleiv.h.bryne@ntnu.no
Search for other works by this author on:
Thor. I. Fossen,
Thor. I. Fossen
Department of Engineering Cybernetics,
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: thor.fossen@ntnu.no
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: thor.fossen@ntnu.no
Search for other works by this author on:
Tor. A. Johansen
Tor. A. Johansen
Department of Engineering Cybernetics,
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: tor.arne.johansen@ntnu.no
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: tor.arne.johansen@ntnu.no
Search for other works by this author on:
Robert. H. Rogne
Department of Engineering Cybernetics,
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: robert.rogne@ntnu.no
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: robert.rogne@ntnu.no
Torleiv. H. Bryne
Department of Engineering Cybernetics,
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: torleiv.h.bryne@ntnu.no
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: torleiv.h.bryne@ntnu.no
Thor. I. Fossen
Department of Engineering Cybernetics,
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: thor.fossen@ntnu.no
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: thor.fossen@ntnu.no
Tor. A. Johansen
Department of Engineering Cybernetics,
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: tor.arne.johansen@ntnu.no
Centre for Autonomous Marine Operations
and Systems (NTNU AMOS),
Norwegian University of Science
and Technology,
Trondheim N-7491, Norway
e-mail: tor.arne.johansen@ntnu.no
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 13, 2017; final manuscript received November 15, 2017; published online January 9, 2018. Assoc. Editor: Soo Jeon.
J. Dyn. Sys., Meas., Control. Jul 2018, 140(7): 071001 (7 pages)
Published Online: January 9, 2018
Article history
Received:
January 13, 2017
Revised:
November 15, 2017
Citation
Rogne, R. H., Bryne, T. H., Fossen, T. I., and Johansen, T. A. (January 9, 2018). "Redundant MEMS-Based Inertial Navigation Using Nonlinear Observers." ASME. J. Dyn. Sys., Meas., Control. July 2018; 140(7): 071001. https://doi.org/10.1115/1.4038647
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