2018
Lyu, Pin; Lai, Jizhou; Liu, Hugh H T; Liu, Jianye; Zhang, Qingrui
A Thrust Model Aided Fault Diagnosis Method for the Altitude Estimation of a Quadrotor Journal Article
In: IEEE Transactions on Aerospace and Electronic Systems, 54 (2), pp. 1008–1019, 2018, ISSN: 00189251.
Abstract | Links | BibTeX | Tags: altitude estimation, analytical redundancy, chi-test, fault diagnosis, quadrotor, thrust model
@article{TAES2018Lv,
title = {A Thrust Model Aided Fault Diagnosis Method for the Altitude Estimation of a Quadrotor},
author = {Pin Lyu and Jizhou Lai and Hugh H T Liu and Jianye Liu and Qingrui Zhang},
doi = {10.1109/TAES.2017.2773262},
issn = {00189251},
year = {2018},
date = {2018-01-01},
journal = {IEEE Transactions on Aerospace and Electronic Systems},
volume = {54},
number = {2},
pages = {1008--1019},
abstract = {IEEE In this paper, a new fault diagnosis method is presented for the sensors in the vertical direction of a quadrotor. Different from the existing methods which treat the inertial sensors and the measurement sensors separately, the presented method is capable of dealing with both the z-axis accelerometer and the barometer. The knowledge of the thrust model is used to generate an analytical redundancy based fault diagnosis approach for altitude estimation. The filter design, fault detection, isolation and recovery problems are addressed. An improved chi-test method is used for fault detection. Real flight data is used to validate the proposed approaches, showing that 1) the faults of the z-axis accelerometer and the barometer can both be detected; 2) the thrust model of a quadrotor can be used to replace the faulty z-axis accelerometer.},
keywords = {altitude estimation, analytical redundancy, chi-test, fault diagnosis, quadrotor, thrust model},
pubstate = {published},
tppubtype = {article}
}
IEEE In this paper, a new fault diagnosis method is presented for the sensors in the vertical direction of a quadrotor. Different from the existing methods which treat the inertial sensors and the measurement sensors separately, the presented method is capable of dealing with both the z-axis accelerometer and the barometer. The knowledge of the thrust model is used to generate an analytical redundancy based fault diagnosis approach for altitude estimation. The filter design, fault detection, isolation and recovery problems are addressed. An improved chi-test method is used for fault detection. Real flight data is used to validate the proposed approaches, showing that 1) the faults of the z-axis accelerometer and the barometer can both be detected; 2) the thrust model of a quadrotor can be used to replace the faulty z-axis accelerometer.