Quadrotor Sensor Fault Diagnosis with Experimental Results

Avram, Remus C.; Zhang, Xiaodong; Muse, Jonathan A.

doi:10.1007/s10846-016-0425-1

Cited by 32 publications

(14 citation statements)

References 17 publications

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“…First, using closed-loop integration architecture, slowly growing errors (i.e., ramp faults) exert little influence on both the navigation solution and the innovations because IMU sensor errors are estimated and fed back to INS for corrections every epoch. Second, step faults of about 0.2 m/s 2 in IMU may be caused by a sudden change of the constant biases, which is possible, especially for low-cost sensors [34]. As shown in Figure 6, the trajectory in this simulation is of a 418-s aircraft motion generated by Spirent SimGen, in a speed of 200 m/s with two 45 • turns in opposite directions and a 500 m climb [1].…”

Section: Simulation Descriptionmentioning

confidence: 99%

“…As shown in Equation (31), the innovation-based vector r F is affected by GNSS fault, and thus the test statistics cannot accurately reflect the magnitude of filter fault before GNSS fault exclusion. As shown in Equation (34), the effects of GNSS faults are eliminated by excluding the faulty satellites when constructing the new vector r F . When there is a right exclusion, i.e., excluding both SV-1 and SV-3, FF can be accurately reflected by the statistic.…”

Section: Gnss Fault Exclusion Fault Separation and Filter Recoverymentioning

confidence: 99%

See 1 more Smart Citation

Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction

Wang

Zhan

Zhai

et al. 2020

Sensors

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To ensure navigation integrity for safety-critical applications, this paper proposes an efficient Fault Detection and Exclusion (FDE) scheme for tightly coupled navigation system of Global Navigation Satellite Systems (GNSS) and Inertial Navigation System (INS). Special emphasis is placed on the potential faults in the Kalman Filter state prediction step (defined as “filter fault”), which could be caused by the undetected faults occurring previously or the Inertial Measurement Unit (IMU) failures. The integration model is derived first to capture the features and impacts of GNSS faults and filter fault. To accommodate various fault conditions, two independent detectors, which are respectively designated for GNSS fault and filter fault, are rigorously established based on hypothesis-test methods. Following a detection event, the newly-designed exclusion function enables (a) identifying and removing the faulty measurements and (b) eliminating the effect of filter fault through filter recovery. Moreover, we also attempt to avoid wrong exclusion events by analyzing the underlying causes and optimizing the decision strategy for GNSS fault exclusion accordingly. The FDE scheme is validated through multiple simulations, where high efficiency and effectiveness have been achieved in various fault scenarios.

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Section: Simulation Descriptionmentioning

confidence: 99%

Section: Gnss Fault Exclusion Fault Separation and Filter Recoverymentioning

confidence: 99%

Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction

Wang

Zhan

Zhai

et al. 2020

Sensors

View full text Add to dashboard Cite

show abstract

“…It plays an important role in active fault-tolerant control (AFTC) since it can provide the required fault information to reconfigure the controller. In [24,25], nonlinear adaptive estimation methods are presented to detect, isolate, and estimate sensor bias faults in accelerometer and gyroscope measurements of a quadrotor helicopter. In the study by Zhong et al [26], an adaptive two-stage extended Kalman filter is proposed for sensor fault detection and diagnosis of a quadrotor helicopter based on its kinematic model.…”

Section: Introductionmentioning

confidence: 99%

A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances

2021

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This paper presents an active fault-tolerant control strategy for quadrotor helicopters to simultaneously accommodate sensor faults and external disturbances. Unlike most of the existing fault diagnosis and fault-tolerant control schemes for quadrotor helicopters, the proposed fault diagnosis scheme is able to estimate sensor faults while eliminating the effect of external disturbances. Moreover, the proposed fault-tolerant control scheme is capable to eliminate the adverse effect of external disturbances as well by designing a disturbance observer to effectively estimate the unknown external disturbances and integrating with the designed integral sliding-mode controller. In this case, the continuous operation of the quadrotor helicopter is ensured while avoiding the unexpected control chattering. In addition, the stability of the closed-loop system is theoretically proved. Finally, the effectiveness and advantages of the proposed scheme are validated and demonstrated through comparative numerical simulations of the quadrotor helicopter under different faulty and uncertain scenarios.

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“…In particular, any change in the thrust generation has to be detected and compensated for. More precisely, to allow autonomous aerial vehicles to deal with unexpected incidents, it is necessary to detect changes/faults in the system before they lead to a complete system breakdown [Avram et al, 2017, Freddi et al, 2010, Sharifi et al, 2010. For instance, it is necessary to track the parameter changes in the thrust model, which reflect the actuator lock and other potential actuator problems [Rupp et al, 2005].…”

Section: Introductionmentioning

confidence: 99%

Some results on closed-loop identification of quadcopters

2018

Linköping Studies in Science and Technology. Licentiate Thesis

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This is a Swedish Licentiate's Thesis. Swedish postgraduate education leads to a Doctor's degree and/or a Licentiate's degree. A Doctor's Degree comprises 240 ECTS credits (4 years of full-time studies). A Licentiate's degree comprises 120 ECTS credits, of which at least 60 ECTS credits constitute a Licentiate's thesis. Linköping studies in science and technology. Thesis No. 1826 Some results on closed-loop identification of quadcopters

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Quadrotor Sensor Fault Diagnosis with Experimental Results

Cited by 32 publications

References 17 publications

Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction

Fault Detection and Exclusion for Tightly Coupled GNSS/INS System Considering Fault in State Prediction

A Robust Fault-Tolerant Control for Quadrotor Helicopters against Sensor Faults and External Disturbances

Some results on closed-loop identification of quadcopters

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