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Detection of Sensor Faults in Small Helicopter UAVs Using ObserverKalman Filter Identification
Joint Authors
Heredia, Guillermo
Ollero, Anibal
Source
Mathematical Problems in Engineering
Issue
Vol. 2011, Issue 2011 (31 Dec. 2011), pp.1-20, 20 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2011-09-21
Country of Publication
Egypt
No. of Pages
20
Main Subjects
Abstract EN
Reliability is a critical issue in navigation of unmanned aerial vehicles (UAVs) since there is no human pilot that can react to any abnormal situation.
Due to size and cost limitations, redundant sensor schemes and aeronautical-grade navigation sensors used in large aircrafts cannot be installed in small UAVs.
Therefore, other approaches like analytical redundancy should be used to detect faults in navigation sensors and increase reliability.
This paper presents a sensor fault detection and diagnosis system for small autonomous helicopters based on analytical redundancy.
Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer.
The observer is obtained from input-output experimental data with the Observer/Kalman Filter Identification (OKID) method.
The OKID method is able to identify the system and an observer with properties similar to a Kalman filter, directly from input-output experimental data.
Results are similar to the Kalman filter, but, with the proposed method, there is no need to estimate neither system matrices nor sensor and process noise covariance matrices.
The system has been tested with real helicopter flight data, and the results compared with other methods.
American Psychological Association (APA)
Heredia, Guillermo& Ollero, Anibal. 2011. Detection of Sensor Faults in Small Helicopter UAVs Using ObserverKalman Filter Identification. Mathematical Problems in Engineering،Vol. 2011, no. 2011, pp.1-20.
https://search.emarefa.net/detail/BIM-451861
Modern Language Association (MLA)
Heredia, Guillermo& Ollero, Anibal. Detection of Sensor Faults in Small Helicopter UAVs Using ObserverKalman Filter Identification. Mathematical Problems in Engineering No. 2011 (2011), pp.1-20.
https://search.emarefa.net/detail/BIM-451861
American Medical Association (AMA)
Heredia, Guillermo& Ollero, Anibal. Detection of Sensor Faults in Small Helicopter UAVs Using ObserverKalman Filter Identification. Mathematical Problems in Engineering. 2011. Vol. 2011, no. 2011, pp.1-20.
https://search.emarefa.net/detail/BIM-451861
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-451861