ABSTRACT
We address the problem of fault detection, isolation, and reconfiguration (FDIR) in dynamic systems with random disturbances [505]. This problem has received extensive research attention in the aerospace domain, for navigation and flight control systems integrity monitoring. To be specific, we consider the problem of fault tolerant navigation. In this case the FDIR algorithms are designed to detect, isolate (identify) a faulty sensor (or subsystem), and to automatically remove faulty sensor (or subsystem) from the navigation solution [112, 226, 290, 505, 507].
