Exchange stay abroad: Fault detection and isolation methods for Bluetooth PARS resilient multi-sensor fusion

Whilst Global Navigation Satellite Systems (GNSS) is the gold standard for aiding in autonomous inertial navigation, there are several areas of applications where other aiding sensors are necessary – either as complementary systems or fully-fledged replacements, e.g., dense, urban areas, indoors, and battlefields. The PARNAV project is concerned with the development of improved systems and algorithms for resilient localisation and navigation without GNSS using low-cost Bluetooth phased-array radio systems (PARS). PhD candidate Glen Hjelmerud Mørkbak Sørensen's project is focused on developing Bluetooth PARS-aided inertial navigation and resilient multi-sensor fusion systems fusing Bluetooth PARS with other sensor modalities. The objectives of Sørensen's exchange stay at DTU Electro is 1) acquire knowledge and insight in fault detection and isolation methods under the guidance of Prof. Roberto Galeazzi, which should provide added benefit to his PhD project and the PARNAV project overall. 2) conduct autonomous docking experiments comparing the use of Bluetooth PARS against other sensor modalities. 3) collaborate on a joint publications. The host institution and host co-supervisor were chosen due to their active research area of and expertise in multimodal sensor fusion and fault tolerance in cyber-physical systems [1-3], as well as already having a close collaborative relationship with NTNU. [1] D. Dagdilelis, M. Blanke, R. H. Andersen, and R. Galeazzi, ‘Cyber-resilience for marine navigation by information fusion and change detection’, Ocean Eng., vol. 266, no. Part 3, pp. 1–18, 2022 [2] P. I. H. Karstensen and R. Galeazzi, ‘Data Falsification Attacks on Distributed Multi-Object Tracking Systems’, in 2023 European Control Conference (ECC), Jun. 2023, pp. 1–7 [3] T. T. Enevoldsen, M. Blanke, and R. Galeazzi, ‘Autonomy for Ferries and Harbour Buses: a Collision Avoidance Perspective’, IFAC-Pap., vol. 56, no. 2, pp. 5735–5740, 2023