Encoded Check Driven Concurrent Error Detection in Particle Filters for Nonlinear State Estimation

摘要

In this paper we propose a framework for concurrent detection of soft computation errors in particle filters which are finding increasing use in robotics applications. The particle filter works by sampling the multi-variate probability distribution of the states of a system (samples called particles, each particle representing a vector of states) and projecting these into the future using appropriate nonlinear mappings. We propose the addition of a `check' state to the system as a linear combination of the system states for error detection. The check state produces an error signal corresponding to each particle, whose statistics are tracked across a sliding time window. Shifts in the error statistics across all particles are used to detect soft computation errors as well as anomalous sensor measurements. Simulation studies indicate that errors in particle filter computations can be detected with high coverage and low latency.