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Research ArticleRegular Papers
Open Access

Detecting Slowly Accumulating Faults Using a Bank of Cumulative Innovations Monitors in Kalman Filters

John D. Quartararo, and Steven E. Langel
NAVIGATION: Journal of the Institute of Navigation March 2022, 69 (1) navi.507; DOI: https://doi.org/10.33012/navi.507
John D. Quartararo,
Electronic Systems Innovation Center, The MITRE Corporation, Bedford, MA, USA
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Steven E. Langel
Electronic Systems Innovation Center, The MITRE Corporation, Bedford, MA, USA
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NAVIGATION: Journal of the Institute of Navigation: 69 (1)
NAVIGATION: Journal of the Institute of Navigation
Vol. 69, Issue 1
Spring 2022
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Detecting Slowly Accumulating Faults Using a Bank of Cumulative Innovations Monitors in Kalman Filters
John D. Quartararo,, Steven E. Langel
NAVIGATION: Journal of the Institute of Navigation Mar 2022, 69 (1) navi.507; DOI: 10.33012/navi.507

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Detecting Slowly Accumulating Faults Using a Bank of Cumulative Innovations Monitors in Kalman Filters
John D. Quartararo,, Steven E. Langel
NAVIGATION: Journal of the Institute of Navigation Mar 2022, 69 (1) navi.507; DOI: 10.33012/navi.507
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  • Article
    • Summary
    • 1 INTRODUCTION
    • 2 MOTIVATION FOR MULTI-MONITOR APPROACH
    • 3 ALGORITHM DESCRIPTIONS
    • 4 IMPLEMENTATION DETAILS
    • 5 ANALYSIS METHODS
    • 6 RESULTS
    • 7 SUMMARY
    • 8 FUTURE WORK
    • HOW TO CITE THIS ARTICLE
    • APPENDIX A: EFFECT OF MONITOR CROSS-CORRELATION ON FALSE ALARM RATE
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Keywords

  • anti-spoofing
  • fault detection
  • GNSS
  • GPS
  • inertial
  • innovations monitoring
  • Kalman filtering
  • sensor fusion

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