| 摘要 |
A fault detection method uses inertial measurements provided by an inertial measurement unit (IMU) (2) to detect faults in position measurement equipment (PME) (4). The method uses at least one inertial measurement (a(t-N) . . . a(t)) to derive at least one unaided marine vessel state estimate (x(t-N) . . . x(t)) in an unaided solution function block (12). This is then compared with at least one position measurement (p(t-N) . . . p(t)) provided by the PME (4) in a fault detection function block (14) to determine if there is a fault in the PME. An earlier inertial measurement (a(t-N+1)) and an earlier position measurement (p(t-N+1)) are used to derive an aided marine vessel state estimate (x'(t-N+1)) in an aided solution function block (10). The aided marine vessel state estimate (x'(t-N+1)) is used as a start condition to the step of deriving the at least one unaided marine vessel state estimate (x(t-N) . . . x(t)). The aided and unaided solution function blocks (10, 12) can be implemented as a Kalman filter.
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