一种用于传感器故障检测的改进残差检验法

针对基于卡尔曼滤波器的残差检验法会跟踪软故障的局限性，提出了一种基于状态递推器的改进方法。然后通过对残差量的正态分布标准化措施，将残差向量整体的χ^2检测问题转化为每个独立分量的偏差检测问题。根据本文方法，不但提高了故障检测灵敏度，同时，具有一定的故障定位能力。仿真结果表明该方法是有效的，能够在很大程度上提高系统的故障检测灵敏度。

A Modified Residual Test Method Applied to Sensor Failure Detection

For the disadvantage of tracking the soft failure of the residual test based on Kalman filter, this paper makes an improvement on the method by using the state propagator. With the aid of normalizing the residual vector with the normal distribution, each component of the residual vector needs to be tested instead of the whole of that. Thus a higher fault detection sensitivity as well as the capability of the fault identification can be obtained according to the presented method. The simulation shows that the method is effective, by using this method the fault detection sensitivity of the system can be improved to a great extent.