Research on Wavelet Singularity Detection Based Fault-Tolerant Federated Filtering Algorithm for INS/GPS/DVL Integrated Navigation System

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="825726.fig.007a" src="https://static.hindawi.com/articles/jam/volume-2014/825726/figures/825726.fig.007a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>The drift estimation results when GPS is without faults</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="825726.fig.007b" src="https://static.hindawi.com/articles/jam/volume-2014/825726/figures/825726.fig.007b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>The drift estimation results when GPS has slope faults</td></tr></table></td></tr></table>

<table>Gyro drifts estimation result.</table>

Journal of Applied Mathematics

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Figure 7

Figure 7: Research on Wavelet Singularity Detection Based Fault-Tolerant Federated Filtering Algorithm for INS/GPS/DVL Integrated Navigation System 