Fault isolation and recovery based on improved federated filter

An improved federated filtering method is presented for fault isolation and recovery (FIR). A double master system federated filtering structure is adopted to avoid the fatal effect caused from a master system failure. According to this structures a FIR strategy based on hiberarchy federated filter is proposed. If one sensor of the filter is failed to work, it can also produce a continuous estimate. The subsequent fault detection can be performed as well. A time-sharing feedback federated filter is presented based on information sharing principle to reduce the possibility of global contamination and improve the capability of detecting the gradually changed fault. The application of the algorithm on the multi-sensor integrated navigation system proves that the filter could produce accurate and continuous navigation information, whichever subsystem goes wrong.