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Abstract

A signal selection and fault detection system that provides triple functional redundancy using the outputs (Y.sub.A, Y.sub.B) of two unmonitored primary channels and the output of one or the other of two complementary filters (22, 34) that each receive and process a signal (Y dot IRU) that is derived from a third, independent primary signal source (18) and that is representative of the rate or first derivative of the primary signals (Y.sub.A, Y.sub.B). During non-failure conditions, the system output (Y.sub.CF1) is generated by a normal mode complementary filter 22 from the synthesized rate signal (Y dot IRU) and the selected (10) midvalue one of this output signal (Y.sub.CF1) and the primary signals (Y.sub.A, Y.sub.B). In the event of a suspected failure in one of the primary signals, the output (Y.sub.IRU) of a failure mode complementary filter is substituted (16) for the system output signal (Y.sub.CF1) as the third input (C) to the midvalue selector (10). The system includes a fault monitor (24) and a fault detector (26) to monitor the selected signal and generate switching signals (LOC FAIL, IC FILT, SELCHA, SELCHB) that control the switching between the normal mode and failure mode complementary filters and the isolation of the failed channels. Provisions (30, 32) are made for initializing integrators (52, 54) in the failure mode complementary filter and for varying the band width (C1, C2, A1, A2) of both the failure mode and the normal mode complementary filters as a function of a parameter that influences the primary signals.

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