Fault Detection of UAV Fault Based on a SFUKF

2019 International Conference on Advanced Electronic Materials, Computers and Materials Engineering

无线电电子学;计算机科学;材料科学

Zhong, Wang^1 ; Xin, Chen^1

College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 29 Jiang Jun Avenue, Nanjing

211106, China^1

关键词: Actuators and sensors;    Detection methods;    Fault signal;    Fault-based;    Small amplitude;    Tube blockage;    UAV systems;    Unscented Kalman Filter;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/563/5/052099/pdf
DOI  :  10.1088/1757-899X/563/5/052099

来源: IOP

【 摘 要 】

The UAV system is a typical closed-loop control system. Its good robustness can inhibit the fault signal, which poses certain difficulties for the detection of early or small amplitude faults. In this paper, a nonlinear longitudinal control system model of a class of UAVs is established, and a fault detection method based on the suboptimal fading unscented Kalman filter (SFUKF) is designed. Aiming at the common failure of actuators and sensors of the drone, this paper proves that the method realizes the fault detection of the airspeed tube blockage and the elevator part failure by simulation.