Fault Detection Architecture for Proprioceptive Sensors based on a Multi Model Approach and Fuzzy Logic Decisions

In this paper a new fault detection architecture will be presented. Inspired by multi-model data fusion algorithms and fuzzy logic decisions, it consists in the comparison between the estimation of a dynamic mode using each sensor independently. This method is used to deal with important non-linearity and strong interaction with the environment usually encountered in the domain of the intelligent vehicles localization. The concept of analytic redundancy is also used to ignore model uncertainties