Fault-tolerant dead reckoning system for a modular vehicle

Masafumi Hashimoto; Fuminori Oba; Kazuhiko Takahashi

doi:10.1117/12.664695

2 May 2006 Fault-tolerant dead reckoning system for a modular vehicle

Masafumi Hashimoto, Fuminori Oba, Kazuhiko Takahashi

Proceedings Volume 6042, ICMIT 2005: Control Systems and Robotics; 604237 (2006) https://doi.org/10.1117/12.664695
Event: ICMIT 2005: Merchatronics, MEMS, and Smart Materials, 2005, Chongqing, China

Abstract

A fault-tolerant dead reckoning system is presented for a modular vehicle, which consists of one chassis unit and several wheel units. The units locally estimate the vehicle position based on their own internal sensors. The local estimates are exchanged among the units via an inter-communication system, and they are fused in a decentralized manner. The units can then determine the vehicle position accurately. The decentralized dead reckoning algorithm is formulated based on the information filter and the covariance Intersection method. For enhancing the reliability of the dead reckoning a multi-model based fault detection and diagnosis (FDD) of the internal sensors is incorporated into the dead reckoning system. The units diagnose their sensors with the FDD system, and they apply only the normal sensors for the vehicle localization. In this paper two fault modes (hard fault and noise fault modes) of the sensors are handled; on the hard fault the sensor output is stuck at a constant value. On the noise fault it is disturbed by a large noise. The FDD algorithm is based on the variable structure interacting multiple-model estimator. The fault-tolerant dead reckoning algorithm was implemented on our indoor test-vehicle, which consists of one chassis unit and four wheel units. Experimental results show that our dead reckoning provided better localization accuracy than the conventional one (i.e., the dead reckoning without sensor FDD system) did even though the sensors partially failed.

Citation Download Citation

Masafumi Hashimoto, Fuminori Oba, and Kazuhiko Takahashi "Fault-tolerant dead reckoning system for a modular vehicle", Proc. SPIE 6042, ICMIT 2005: Control Systems and Robotics, 604237 (2 May 2006); https://doi.org/10.1117/12.664695

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
7 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Sensors

Copper

Filtering (signal processing)

Computer programming

Gyroscopes

Magnesium

Motion models

Show All Keywords

Keywords/Phrases

Search In:

Publication Years