Fast Fault Detection on a Quadrotor using Onboard Sensors and a Kalman Filter Approach

02/12/2021
by   Bram Strack van Schijndel, et al.
0

This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman filter estimator estimates a stochastic effectiveness factor for every actuator, using only onboard RPM, gyro and accelerometer measurements. Then, a hypothesis test identifies the failed actuator. This algorithm is validated online in real-time, also as part of an active fault tolerant control system. Loss of actuator effectiveness is induced by ejecting the propellers from the motors. The robustness of this algorithm is further investigated offline over a range of parameter settings by replaying real flight data containing 26 propeller ejections. The detection delays are found to be in the 30 to 130 ms range, without missed detections or false alarms occurring.

READ FULL TEXT
POST COMMENT

Comments

There are no comments yet.

Authors

page 5

03/01/2017

Online Natural Gradient as a Kalman Filter

We establish a full relationship between Kalman filtering and Amari's na...
11/19/2020

Computation of the Gradient and the Hessian of the Log-likelihood of the State-space Model by the Kalman Filter

The maximum likelihood estimates of an ARMA model can be obtained by the...
05/15/2016

A Distributed Quaternion Kalman Filter With Applications to Fly-by-Wire Systems

The introduction of automated flight control and management systems have...
10/16/2020

FAST-LIO: A Fast, Robust LiDAR-inertial Odometry Package by Tightly-Coupled Iterated Kalman Filter

This paper presents a computationally efficient and robust LiDAR-inertia...
02/18/2020

An improved FastEuler-DLKF small-UAV AHRS algorithm

The accurate Attitude Heading Reference System(AHRS) is an important apa...
04/23/2018

Layered Based Augmented Complex Kalman Filter for Fast Forecasting-Aided State Estimation of Distribution Networks

In the presence of renewable resources, distribution networks have becom...
08/28/2019

Intuitive Neuromyoelectric Control of a Dexterous Bionic Arm Using a Modified Kalman Filter

Multi-articulate prosthetic hands are capable of performing dexterous ha...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.