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Mathematical Problems in Engineering
Volume 2013, Article ID 782617, 11 pages
Research Article

Fault Tolerant Control in Redundant Inertial Navigation System

College of Automation, Harbin Engineering University, Harbin 150001, China

Received 25 July 2013; Accepted 1 September 2013

Academic Editor: Zhiguang Feng

Copyright © 2013 Xiaoqiang Dai et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Conventional fault detection and isolation technology cannot fully ensure system redundancy features when sensors experience drift in a redundant inertial navigation system. A new fault tolerant control method employs state estimation and state feedback techniques to compensate the sensor drift. However, the method is sensitive to measurement noise characteristics, and the performance of the method nearly depends on the feedback gain. This paper proposes an improved fault tolerant control algorithm, which employs an adaptive extended Kalman particle filter (AEKPF) to deal with unknown noise characteristics and model inaccuracies. In addition, a drift factor is introduced in the improved fault tolerant controlin order to reduce the dependence of compensation system on the feedback gain. Simulation results show that the improved fault tolerant control algorithm can effectively correct the faulty sensor even when the multiple erroneous sensors are producing faulty outputs simultaneously. Meanwhile, the AEKPF is able to solve the problem of unknown non-Gaussian noise characteristics. Moreover, the feedback gain is significantly improved by the drift factor.