FaultDetectionDemo — Interactive Demo

Scenario

σ_ρ 5.0 m

number of sats 5

σ_a (process) 2.0 m/s²

σ_b (clock RW) 3.0 m/√s

total time T 300 s

show sub-filter tracks on trajectory center trajectory on truth (default: main filter)

Fault injection on one satellite

faulted SV SAT 3

fault start t₀ 60 s

ramp rate ḃ 3.0 m/s

window M 30 s

After t₀, the faulted satellite's pseudorange picks up a linear bias growing at ḃ m/s. The filter has no idea — it folds the corrupted measurement in like any other. The detection job is to notice the symptom in the innovations.

t = 0.0 s

Live trajectory · main filter (corrupted by fault) vs. sub-filters

Innovation monitoring

Horizontal error |e_H|

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truth − main filter (live)

Filter σ_p (live)

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from main filter P

Faulted SV bias (live)

—

ḃ · max(0, t − t₀)

Detection thresholds

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single · windowed · isolation