A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation
Joint Authors
Gross, Jason N.
Lassak, Kyle
Rhudy, Matthew B.
Gu, Yu
Source
International Journal of Aerospace Engineering
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-12, 12 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-02-24
Country of Publication
Egypt
No. of Pages
12
Abstract EN
A novel sensor fusion design framework is presented with the objective of improving the overall multisensor measurement system performance and achieving graceful degradation following individual sensor failures.
The Unscented Information Filter (UIF) is used to provide a useful tool for combining information from multiple sources.
A two-step off-line and on-line calibration procedure refines sensor error models and improves the measurement performance.
A Fault Detection and Identification (FDI) scheme crosschecks sensor measurements and simultaneously monitors sensor biases.
Low-quality or faulty sensor readings are then rejected from the final sensor fusion process.
The attitude estimation problem is used as a case study for the multiple sensor fusion algorithm design, with information provided by a set of low-cost rate gyroscopes, accelerometers, magnetometers, and a single-frequency GPS receiver’s position and velocity solution.
Flight data collected with an Unmanned Aerial Vehicle (UAV) research test bed verifies the sensor fusion, adaptation, and fault-tolerance capabilities of the designed sensor fusion algorithm.
American Psychological Association (APA)
Gu, Yu& Gross, Jason N.& Rhudy, Matthew B.& Lassak, Kyle. 2016. A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation. International Journal of Aerospace Engineering،Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1105011
Modern Language Association (MLA)
Gu, Yu…[et al.]. A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation. International Journal of Aerospace Engineering No. 2016 (2016), pp.1-12.
https://search.emarefa.net/detail/BIM-1105011
American Medical Association (AMA)
Gu, Yu& Gross, Jason N.& Rhudy, Matthew B.& Lassak, Kyle. A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation. International Journal of Aerospace Engineering. 2016. Vol. 2016, no. 2016, pp.1-12.
https://search.emarefa.net/detail/BIM-1105011
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1105011