A fault tolerant multisensor switching scheme for state estimation

A multisensor estimation scheme with the ability to accommodate multiple sensor faults is presented. A switching strategy is employed such that, at each sampling time, a sensorestimator pair is selected to provide the best state estimate as measured by an optimisation criterion. We show that, if a set of conditions on the system parameters (such as bounds on the sensors noises, disturbances, operating conditions, etc.) is satisfied then the switching estimation scheme is able to guarantee fault tolerant capabilities under multiple sensor failures.