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Fault Detection Algorithm for Gaussian Mixture Noises: An Application in Lidar/IMU Integrated Localization Systems

Penggao Yan
Penggao Yan
Department of Aeronautical and Aviation Engineering, Faculty of Engineering, Hong Kong Polytechnic University, Hong Kong
Zhengdao Li
Zhengdao Li
Department of Aeronautical and Aviation Engineering, Faculty of Engineering, Hong Kong Polytechnic University, Hong Kong
Feng Huang
Feng Huang
Department of Aeronautical and Aviation Engineering, Faculty of Engineering, Hong Kong Polytechnic University, Hong Kong
Weisong Wen,
Weisong Wen,
Department of Aeronautical and Aviation Engineering, Faculty of Engineering, Hong Kong Polytechnic University, Hong Kong
and Li-Ta Hsu
Li-Ta Hsu
Department of Aeronautical and Aviation Engineering, Faculty of Engineering, Hong Kong Polytechnic University, Hong Kong

NAVIGATION: Journal of the Institute of Navigation
March 2025,
72
(1)
navi.684;
DOI: https://doi.org/10.33012/navi.684

FIGURE 7

Fault detection results for (a) the total Gaussian-GMM method and (b) the Gaussian method with the N1 noise setting for a step failure (group A2)In the diagnosis result plot, “1” indicates a fault, and “0” indicates normal. The failure period is 4–20 s, which is marked by the shaded area.

FIGURE 7

Fault detection results for (a) the total Gaussian-GMM method and (b) the Gaussian method with the N1 noise setting for a step failure (group A2)

In the diagnosis result plot, “1” indicates a fault, and “0” indicates normal. The failure period is 4–20 s, which is marked by the shaded area.

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Fault Detection Algorithm for Gaussian Mixture Noises: An Application in Lidar/IMU Integrated Localization Systems

Penggao Yan

Penggao Yan

Zhengdao Li

Zhengdao Li

Feng Huang

Feng Huang

Weisong Wen,

Weisong Wen,

and Li-Ta Hsu

Li-Ta Hsu

Institute of Navigation

March 2025,

72

(1)

navi.684;

DOI: 10.33012/navi.684

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Fault Detection Algorithm for Gaussian Mixture Noises: An Application in Lidar/IMU Integrated Localization Systems

Penggao Yan

Penggao Yan

Zhengdao Li

Zhengdao Li

Feng Huang

Feng Huang

Weisong Wen,

Weisong Wen,

and Li-Ta Hsu

Li-Ta Hsu

Institute of Navigation

March 2025,

72

(1)

navi.684;

DOI: 10.33012/navi.684

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