Table 5 The statistics of detection results under different fault cases
From: Multi-level autonomous integrity monitoring method for multi-source PNT resilient fusion navigation
Case | Fault detection time (s) | Verification success time (s) | RMSE without FDI in different direction (m) | RMSE with FDI in different direction (m) | |||||
|---|---|---|---|---|---|---|---|---|---|
Navigation source | Sensor | North | East | Down | North | East | Down | ||
1 | 81.5 | 91.5 | 105.0 | 0.37 | 0.18 | 1.06 | 0.34 | 0.17 | 0.48 |
2 | 80.5 | 91.0 | 104.5 | 0.63 | 0.71 | 0.61 | 0.35 | 0.27 | 0.53 |
3 | 124.0 | 128.0 | 142.0 | 0.46 | 0.23 | 0.48 | 0.31 | 0.17 | 0.47 |
4 | 120.5 | 127.0 | 142.0 | 1.79 | 0.33 | 0.51 | 0.30 | 0.14 | 0.46 |
5 | 41.0 | - | 60.5 | 0.51 | 0.23 | 0.81 | 0.48 | 0.20 | 0.73 |
6 | 43.0 | - | 61.5 | 0.58 | 0.76 | 0.68 | 0.51 | 0.40 | 0.66 |