AN ALGORITHM FOR DETECTING AND ISOLATING DIFFICULT-TO-DETECT FAILURES OF BEACONS USING A REDUNDANT SET OF INSTANT RANGE MEASUREMENTS IN A SHORT-RANGE RADIONAVIGATION SYSTEM

摘要

A method for detection and isolation of failures (faults) in an onboard module of the autonomous short-range radio navigation system (ASBRN) for unmanned aerial vehicles is discussed. The proposed algorithm is based on the analysis of instantaneous range measurements and is applied under the conditions of information redundancy of the navigation field. Failures of the navigation field are detected and isolated by analyzing the combination of binary evidence of a failure, obtained by using any algorithm of integrity monitoring for a set of subgroups of beacons of minimally required dimensions. In this paper we consider how to use this procedure, which allows detecting and isolating both single and multiple failures. The ratio between the maximum multiplicity of the isolated and detected failures and the degree of navigation field redundancy are given. The efficiency of the proposed approach is confirmed by experiments.