One of NASA’s key mission requirements is robust state estimation. Sensing, using a wide range of sensors and sensor fusion approaches, plays a central role in robust state estimation, and there is a need to diagnose sensor failure as well as component failure. Sensor validation techniques address this problem: given a vector of sensor readings, decide whether sensors have failed, therefore producing bad data. We take in this paper a probabilistic approach, using Bayesian networks, to diagnosis and sensor validation, and investigate several relevant but slightly different Bayesian network queries. We emphasize that on-board inference can be performed on a compiled model, giving fast and predictable execution times. Our results are illustrated using an electrical power system, and we show that a Bayesian network with over 400 nodes can be compiled into an arithmetic circuit that can correctly answer queries in less than 500 microseconds on average.

Reference:

O. J. Mengshoel, A. Darwiche, and S. Uckun, "Sensor Validation using Bayesian Networks." In Proc. of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS-08), Los Angeles, CA, 2008.

BibTex Reference:

@inproceedings{mengshoel08sensor, author = {Mengshoel, O. J. and Darwiche, A. and Uckun, S.}, title = {Sensor Validation using {Bayesian} Networks}, booktitle = {Proceedings of the 9th International Symposium on Artificial Intelligence, Robotics, and Automation in Space (iSAIRAS-08)}, year = {2008} }