An analytical fault diagnosis method for yaw estimation of quadrotors. (May 2019)

• Record Type: Journal Article
• Authors: Lyu, Pin; Liu, Shichao; Lai, Jizhou; Liu, Jianye
• Is Part Of: Control engineering practice. Volume 86(2019)
• Page Start: 118
• Page End: 128
• Publication Date: 2019-05
• Subjects: Fault diagnosis -- Torque model -- Quadrotor -- Analytical redundancy -- Yaw estimation -- Yaw rate estimation; Automatic control -- Periodicals; 629.89
• DOI: 10.1016/j.conengprac.2019.03.010
• Languages: English
• ISSNs: 0967-0661

Abstract

Abstract: A new analytical fault diagnosis method is presented for the yaw and yaw rate estimation of a quadrotor. In the existing methods, the faults of the inertial sensors and the measurement sensors are treated separately. The presented method can deal with the faults of both the z-axis gyro and the magnetic sensor by introducing the torque model, which is used as a virtual sensor. The filter design, fault detection, isolation and recovery strategies are discussed. Real flight data is used to validate the proposed approach, showing that both the z-axis gyro fault and the magnetic sensor fault can be detected.