Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors

Sensors

Guillermo Heredia¹  Fernando Caballero¹  Iván Maza¹  Luis Merino²  Antidio Viguria³ 

[1] Robotics, Vision and Control Group, University of Seville, Camino de los Descubrimientos s/n, 41092, Seville, Spain; webpage: http://grvc.us.es;Pablo de Olavide University, Crta. Utrera km. 1, 41013 Seville, Spain;Centro Avanzado de Tecnologías Aeroespaciales (CATEC), Aeropolis, 41309 Seville, Spain; E-Mail:

关键词: UAVs;    fault detection and identification;    multi-UAV;    vision sensors;    GPS;   

DOI  :  10.3390/s90907566

来源: mdpi

【 摘 要 】

This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and Identification (FDI) in a multi-UAV context. Differential Global Positioning System (DGPS) and inertial sensors are used for sensor FDI in each UAV. The method uses additional position estimations that augment individual UAV FDI system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multi-UAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented.

【 授权许可】

CC BY   
© 2009 by the authors; licensee MDPI, Basel, Switzerland