Abstract
This paper proposes a new method for detecting and estimating the faults in the sensors of quadrotor Unmanned Aerial Vehicles. The model used for the fault detection is the kinematic model of the quadrotors, which reduces the influence of model uncertainties. The faults in the sensors are modelled by a random walk process. The state vector of the Unscented Kalman Filter is augmented with the faults, which allows the faults to be estimated. The proposed approach is validated by two scenarios: in the presence and absence of sensor faults. Simulation result shows that the Augmented Unscented Kalman Filter can estimate both the state and faults well, which enables the quadrotor to maintain the flight even in the presence of sensor faults.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Amoozgar, M.H., Chamseddine, A., Zhang, Y.: Experimental Test of a Two-Stage Kalman Filter for Actuator Fault Detection and Diagnosis of an Unmanned Quadrotor Helicopter. Journal of Intelligent & Robotic Systems 70(1-4), 107–117 (2012)
Freddi, A., Longhi, S., Monteriù, A.: A Diagnostic Thau Observer for a Class of Unmanned Vehicles. Journal of Intelligent & Robotic Systems 67(1), 61–73 (2012)
Julier, S.J., Uhlmann, J.K.: A new extension of the Kalman filter to nonlinear systems. In: Proc. of AeroSense: The 11th Int. Symp. on Aerospace/Defence Sensing, Simulation and Control (1997)
Krstic, M., Kanellakopoulos, I., Kokotovic, P.: Nonlinear and Adaptive Control Design. John Wiley & Sons, Inc. (1995)
Lombaerts, T.J.J., Chu, Q.P., Mulder, J.A., Joosten, D.A.: Modular flight control reconfiguration design and simulation. Control Engineering Practice 19(6), 540–554 (2011)
Lu, P., Van Kampen, E.: Aircraft Inertial Measurement Unit Fault Identification with Application to Real Flight Data. In: AIAA Guidance, Navigation and Control Conference, number 0859, Kissimmee, Florida, pp. 1–20 (2015)
Lu, P., Van Eykeren, L., van Kampen, E., Chu, Q., Yu, B.: Adaptive Hybrid Unscented Kalman Filter for Aircraft Sensor Fault Detection, Isolation and Reconstruction. In: AIAA Guidance, Navigation, and Control Conference, number 1145, National Harbor, Maryland, pp. 1–18 (2014)
Lu, P., Van Eykeren, L., van Kampen, E., de Visser, C., Chu, Q.: Double-model adaptive fault detection and diagnosis applied to real flight data. Control Engineering Practice 36, 39–57 (2015)
Mulder, J.A., Chu, Q.P., Sridhar, J.K., Breeman, J.H., Laban, M.: Non-linear aircraft flight path reconstruction review and new advances. Progress in Aerospace Sciences 35, 673–726 (1999)
Van Der Merwe, R., Wan, E.A.: The Square-root Unscented Kalman Filter for State and Parameter-estimation. In: IEEE International Conference on Acoustics, Speech, and Signal Processing, pp. 3461–3464 (2001)
Van Eykeren, L., Chu, Q., Mulder, J.A.: Sensor Fault Detection and Isolation using Adaptive Extended Kalman Filter. In: the 8th Symposium on Fault Detection, Supervision and Safety of Technical Processes, number 1969, Mexico City, Mexico, pp. 1155–1160 (2012)
Van Eykeren, L., Chu, Q.P.: Air Data Sensor Fault Detection using Kinematic Relations. In: Proceedings of the EuroGNC 2013, 2nd CEAS Special Conference on Guidance, Navigation & Control, pp. 414–428 (2013)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Lu, P., Van Eykeren, L., van Kampen, EJ., Chu, Q.P. (2015). Sensor Fault Detection and Estimation for Quadrotors Using Kinematic Equations. In: Bordeneuve-Guibé, J., Drouin, A., Roos, C. (eds) Advances in Aerospace Guidance, Navigation and Control. Springer, Cham. https://doi.org/10.1007/978-3-319-17518-8_21
Download citation
DOI: https://doi.org/10.1007/978-3-319-17518-8_21
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-17517-1
Online ISBN: 978-3-319-17518-8
eBook Packages: EngineeringEngineering (R0)