Fault-tolerant Sensor Fusion for Marine Navigation

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Reliability of navigation data are critical for steering and manoeuvring control, and in particular so at high speed or in critical phases of a mission. Should faults occur, faulty instruments need be autonomously isolated and faulty information discarded. This paper designs a navigation solution where essential navigation information is provided even with multiple faults in instrumentation. The paper proposes a provable correct implementation through auto-generated state-event logics in a supervisory part of the algorithms. Test results from naval vessels document the performance and shows events where the fault-tolerant sensor fusion provided uninterrupted navigation data despite temporal instrument defects
Original languageEnglish
Title of host publicationProceedings of the 7th IFAC Conference on Manoeuvring and Control of Marine Craft
Publication date2006
Publication statusPublished - 2006
Event7th IFAC Conference on Manoeuvring and Control of Marine Craft - Instituto Superior Tecnico (IST), Lisbon, Portugal
Duration: 20 Sep 200622 Sep 2006


Conference7th IFAC Conference on Manoeuvring and Control of Marine Craft
LocationInstituto Superior Tecnico (IST)
Internet address
SeriesIFAC Proceedings Volumes (IFAC-PapersOnline)


  • Navigation
  • Fault-tolerance
  • Sensor Fusion
  • Fault diagnosis

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