An Extended <tex-math notation="LaTeX">Hᵢ/H_∞ </tex-math> Optimization Approach to Fault Detection of INS/GPS-Integrated System

This paper deals with the problem of robust fault detection (FD) for an integrated system of inertial navigation system and global position system (INS/GPS). Under the assumption of process disturbance and measurement noise being l2-norm bounded, a state-space model with potential additive fault is first introduced to describe the error dynamics of the INS/GPS integrated system. For the purpose of the FD, an observerbased FD filter (FDF) is used as a residual generator and the design of the FDF is formulated so as to find an observer gain matrix and a postfilter in the framework of Hi/H∞optimization. By utilizing the techniques of innovation analysis and orthogonal projection, a solution to the extended Hi/H∞-FDF is given in terms of Riccati recursions. Furthermore, a strategy of residual evaluation is also considered, which concerns the selection of an evaluation function and a threshold. Finally, a flight experiment is implemented to show the effectiveness of the proposed method.