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所属单位：自动化学院
发表刊物：IEEE Trans. Aerosp. Electron. Syst.
摘要：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号：0018-9251
是否译文：否
发表时间：2018-04-01
合写作者：F70206545,刘建业,Liu, Hugh H. T.,Zhang, Qingrui
通讯作者：赖际舟