US 12,265,161 B2
System and methods for fault detection in Kalman filter estimation
John David Quartararo, Tyngsboro, MA (US); and Steven E. Langel, Ashland, MA (US)
Assigned to The MITRE Corporation, McLean, VA (US)
Filed by The MITRE Corporation, McLean, VA (US)
Filed on Feb. 28, 2020, as Appl. No. 16/805,184.
Prior Publication US 2021/0270973 A1, Sep. 2, 2021
Int. Cl. G01S 19/23 (2010.01)
CPC G01S 19/23 (2013.01) 21 Claims
OG exemplary drawing
 
1. A device for detecting and rejecting faulty data in an estimation scheme, the device comprising:
an input configured to receive data;
a memory;
one or more processors, wherein the one or more processors are configured to execute instructions stored on the memory that when executed by the processor, cause the device to:
receive one or more measurements from one or more sensors at the input;
calculate an innovation based on the one or more received measurements, wherein an innovation is based on the received one or more measurements and an expected value of the one or more received measurements;
calculate a test statistic based on the calculated innovation, wherein the calculated test statistic is based on the calculated innovation and noise information about the calculated innovation;
accumulate the calculated test statistic at a plurality of monitors, wherein each monitor of the plurality of monitors is configured to accumulate calculated test statistics over a predefined time period that is different than predefined time periods of one or more other monitors of the plurality of monitors;
compare each accumulated test statistic with a pre-defined threshold associated with the respective monitor, wherein each pre-defined threshold is based on a probability of false alarm, wherein the probability of false alarm represents a probability that the received one or more measurements do not contain faults;
in accordance with at least one of the accumulated test statistics exceeding the associated pre-defined threshold:
alert a user of the device to the presence of a fault with the received one or more measurements; and
permanently withhold the received one or more measurements from being transmitted to a Kalman filter, wherein the Kalman filter produces an estimate of a value based on previous estimates of the value and the one or more measurements received from the one or more sensors; and
in accordance with none of the accumulated test statistics exceeding the associated pre-defined thresholds:
transmit the received one or more measurements to the Kalman filter.