Block 8 — Fault Detection, Integrity, and HMI

Block 8 — Fault Detection, Integrity, and HMI#

Block 08~45 min1 demo

Mahalanobis-distance innovation testing, the difference between filter uncertainty and protection levels, the definition and significance of Hazardous Misleading Information (HMI), and how spoof events are detected and quarantined in real-time.

What you’ll learn#

  1. Define a sensor fault and explain why it causes the Kalman filter innovation to grow.

  2. Apply the Mahalanobis distance test to determine when an innovation is statistically suspicious.

  3. Distinguish between filter error bounds (from \(\mathbf{P}\)) and integrity bounds (protection levels).

  4. Define Hazardous Misleading Information (HMI) and identify it from position-error and protection-level time histories.

In this block#

Reading

Reading

Mahalanobis testing, protection levels, and HMI.

 Flashcards

Flashcards

Click-to-reveal cards for the block's key terms and equations.

 Demo

Demo · Fault Detection

Inject a step fault into the GPS stream and watch the Mahalanobis monitor quarantine it.
Contents