Research Article
Design of a Fault Detection and Isolation System for Intelligent Vehicle Navigation System
Table 9
Residual generation in each EKF.
| EKF | | Generated from |
| EKF1 (no GPS) | | Front left ODO Meas update | EKF2 (no ) | | Front left ODO Meas update | EKF3 (no ) | | Raw and estimated -acceleration | | Front left ODO Meas update | EKF4 (no ) | | Front left ODO Meas update | EKF5 (no ) | | Front right ODO Meas update | EKF6 (no ) | | Front left ODO Meas update | EKF7 (no ) | | Front left ODO Meas update | EKF8 (no ) | | Front left ODO Meas update |
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