Fast Loss of Effectiveness Detection on a Quadrotor using Onboard Sensors and a Kalman Estimation Approach
Fast Loss of Effectiveness Detection on a Quadrotor using Onboard Sensors and a Kalman Estimation Approach
- New search for: van Schijndel, B. A. Strack
- New search for: Sun, S.
- New search for: de Visser, C. C.
- New search for: van Schijndel, B. A. Strack
- New search for: Sun, S.
- New search for: de Visser, C. C.
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 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∼130 ms range, without missed detections or false alarms occurring.
Document information
Fast Loss of Effectiveness Detection on a Quadrotor using Onboard Sensors and a Kalman Estimation Approach
2023-06-06
4118778 byte
Conference paper
Electronic Resource
English
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