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Affiliation of Author(s):自动化学院

Title of Paper:A Thrust Model Aided Fault Diagnosis Method for the Altitude Estimation of a Quadrotor

Journal:IEEE Trans. Aerosp. Electron. Syst.

Abstract: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 that 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 the faults of the z-axis accelerometer and the barometer can both be detected and the thrust model of a quadrotor can be used to replace the faulty z-axis accelerometer. © 2017 IEEE.

ISSN No.:0018-9251

Translation or Not:no

Date of Publication:2018-04-01

Co-author:F70206545,ljy,Liu, Hugh H. T.,Zhang, Qingrui

Correspondence Author:Lai Jizhou