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Fault Detection and Isolation for Multi-Sensor Navigation Systems: Model-Based Methods and Applications - Softcover

Monteriù, Andrea

 
9783659384776: Fault Detection and Isolation for Multi-Sensor Navigation Systems: Model-Based Methods and Applications
Softcover
ISBN 10: 3659384771 ISBN 13: 9783659384776
Verlag: LAP LAMBERT Academic Publishing, 2014

Inhaltsangabe

Fault Detection and Isolation (FDI) methods that monitor the navigation system for sensor faults in real-time, can contribute significantly to improve system reliability. Quick detection and isolation of sensor faults can prevent serious damages and irreparable consequences. In this book, remarkable model-based fault diagnosis techniques, such as the Structural Analysis and the Parity Space Approach, are presented and successfully applied to detect and isolate navigation sensor faults in an autonomous navigation robot. The dynamical model of the robot is derived in linear and nonlinear state-space form. Structural analysis is performed on the robot nonlinear model to analyse its structural properties, and thus to provide the set of redundancy relations necessary for fault diagnosis. The required knowledge about weak/strong detectability of sensor faults is obtained applying the Parity Space Approach to the robot linearized model. The effects of the sensor noise are also accounted. In this case, the fault detection reduces to the problem of detecting a change in the mean of a normally distributed random sequence. FDI applications on multi-sensor navigation systems are also provided.

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Über die Autorin bzw. den Autor

Andrea Monteriù received the Laurea Degree summa cum laude in Electronic Engineering and the Ph.D. degree in Artificial Intelligence Systems from the Università Politecnica delle Marche, Ancona, Italy, in 2003 and 2006, respectively. His MSc thesis has been developed with prof. Mogens Blanke to the Technical University of Denmark, Lyngby, Denmark.

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Verlag
LAP LAMBERT Academic Publishing
Erscheinungsdatum
2014
Sprache
Englisch
ISBN 10 
3659384771
ISBN 13 
9783659384776
Einband
Taschenbuch
Anzahl der Seiten
172
Kontakt zum Hersteller
Nicht verfügbar
Verantwortliche Person
KreGa Onlinehandel GmbH
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