| CPC G05D 1/0808 (2013.01) [G01C 21/1654 (2020.08)] | 21 Claims |
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1. A method for controlling a vehicle, the method comprising:
receiving a plurality of measurements from a plurality of sensors comprising a set of non-inertial sensors;
determining a first group mean from the measurements;
determining a vehicle state prediction based on a previous vehicle state and a motion model coupling each of the plurality of measurements, wherein the vehicle state prediction comprises a prediction value for each of the plurality of measurements;
determining measurement faults within the plurality of measurements based on the prediction value for each of the plurality of measurements, wherein determining the measurement faults within the plurality of measurements includes:
identifying a sensor of the plurality of sensors having an output that is furthest from the first group mean;
calculating a second group mean without the output from the identified sensor; and
comparing the second group mean against a rolling average;
generating an updated set of measurements from the plurality of measurements based on the measurement faults; and
determining an updated vehicle state based on the updated set of measurements, the vehicle state prediction, and an observation model.
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