SENSOR FAULT DETECTION AND DIAGNOSIS FOR AUTONOMOUS SYSTEMS

摘要

A method for detecting and diagnosing sensor faults in an autonomous system that includes sensors and hardware components, according to which sensors are related to hardware components and correlations between data readings are recognized online and correlation between sensors is determined. Predefined suspicious patterns are identified by online and continuously tracking the data readings from each sensor and detecting correlation breaks over time. The readings from sensors that match at least one of the patterns are marked as uncertain. For each online reading of the sensors, whenever sensors that used to be correlated show a different behavior, reporting that the reading indicates a fault. Upon identifying fault detection, diagnosing which of the internal components or sensors caused the fault, based on a function that returns the state of the sensor which is associated with the fault detection.

主权项

1. A method for detecting and diagnosing sensor faults in autonomous systems including sensors and hardware components, comprising:
a) relating sensors to hardware components; online recognizing correlations between data readings and determining correlation between sensors; b) identifying predefined suspicious patterns by online and continuously tracking the data readings from each sensor and detecting correlation breaks over time; c) marking the readings from sensors that match at least one of said patterns, as uncertain; d) for each online reading of said sensors, reporting that said reading indicates a fault whenever sensors that used to be correlated show a different behavior; and e) upon identifying a fault detection, diagnosing which of the internal components or sensors caused said fault, based on a function that returns the state of the sensor associated with said fault detection.