FAULT DETECTION USING REDUNDANT NAVIGATION MODULES

Mobile robots and other moving vehicles need to know their position with a certain level of confidence. In this paper, a method is proposed to handle faults in the navigation system by considering the outputs of existing navigation modules rather than processing sensor data directly. The proposed method needs only a simple model for drift and noise, an extended Kalman filter and a CUSUM test. It can handle position information given in different coordinate systems and does not require any modification of existing navigation modules. Promising experimental results are shown.