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http://dx.doi.org/10.5302/J.ICROS.2005.11.3.200

Model-Free Hybrid Fault Detection and Isolation For UAV Inertial Measurement Sensors  

Kim, Seung-Keun (서울대학교 기계항공공학부 항공우주공학)
Kim, You-Dan (서울대학교 기계항공공학부 항공우주공학)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.3, 2005 , pp. 200-206 More about this Journal
Abstract
In this paper, a redundancy management system for aircraft is studied, and FDI (Fault Detection and Isolation) algorithm of inertial sensor system is proposed. UAV system cannot allow triple or quadruple hardware redundancy due to the limitations on space and weight. In the UAV system with dual sensors, it is very difficult to identify the faulty sensor. Also, conventional FDI method cannot isolate multiple faults in a triple redundancy system. In this paper, hardware based FDI technique is proposed, which combines a parity equation approach with the wavelet based technique, which is a model-free FDI method. To verify the effectiveness of the proposed FDI method, numerical simulations are performed.
Keywords
fault detection and isolation; inertial measurement sensor; discrete wavelet transform; redundancy management;
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