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Sensor fault detection in small autonomous helicopters using observer/Kalman filter identification

机译：使用观察者/卡尔曼滤波器识别的小型自动直升机中的传感器故障检测

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This paper presents a sensor fault detection and diagnosis system for small autonomous helicopters. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The observer is obtained from input-output experimental data with the observer/Kalman filter identification method. The system is tested with real helicopter flight data.

机译：本文提出了一种用于小型自动直升机的传感器故障检测和诊断系统。通过评估车辆在无故障行为方面的行为的任何重大变化（通过使用观察员进行估算）来完成故障检测。观察者是通过观察者/卡尔曼滤波器识别方法从输入输出实验数据中获得的。该系统已通过实际的直升机飞行数据进行了测试。

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《Mechatronics, 2009. ICM 2009》|2009年|1-6|共6页
会议地点 Malaga(ES);Malaga(ES)
作者
Heredia G.; Ollero A.;
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作者单位

Sch. of Eng., Univ. of Seville, Seville;

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关键词
Kalman filters; fault diagnosis; helicopters; mobile robots; observers; remotely operated vehicles; autonomous helicopters; fault-free behaviour; helicopter flight data; observer-Kalman filter identification; sensor fault detection; unmanned aerial vehicles; Fault detection and identification; Observer/Kalman Filter Identification; UAV;

机译：卡尔曼滤波器;故障诊断;直升机;移动机器人;观察员;遥控飞行器;自动驾驶直升机;无故障行为;直升机飞行数据;观察员-卡尔曼滤波器的识别;传感器故障检测;无人机;故障检测与识别;观察员/卡尔曼滤波识别;

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专利

1. Detection of Sensor Faults in Small Helicopter UAVs Using Observer/Kalman Filter Identification [J] . Guillermo Heredia, Anibal Ollero Mathematical Problems in Engineering . 2011,第PTa3期

机译：基于观察者/卡尔曼滤波器识别的小型直升机无人机传感器故障检测
2. Detection of Sensor Faults in Small Helicopter UAVs Using Observer/Kalman Filter Identification [J] . GuillermoHeredia, AnibalOllero Mathematical Problems in Engineering: Theory, Methods and Applications . 2011,第3期

机译：基于观察者/卡尔曼滤波器识别的小型直升机无人机的传感器故障检测
3. Sensor Fault Detection, Isolation, and Identification Using Multiple-Model-Based Hybrid Kalman Filter for Gas Turbine Engines [J] . Bahareh Pourbabaee, Nader Meskin, Khashayar Khorasani IEEE Transactions on Control Systems Technology . 2016,第4期

机译：使用基于多模型的混合卡尔曼滤波器对燃气轮机进行传感器故障检测，隔离和识别
4. Sensor Fault Detection in Small Autonomous Helicopters using Observer/Kalman Filter Identification [C] . G. Heredia, A. Ollero IEEE International Conference on Mechatronics . 2009

机译：使用观察者/卡尔曼滤波器识别的小型自动直升机传感器故障检测
5. A fault detection scheme for modeled and unmodeled faults in a simple hydraulic actuator system using an extended Kalman filter. [D] . Ryerson, Cody. 2006

机译：在使用扩展卡尔曼滤波器的简单液压执行器系统中，用于模型化和非模型化故障的故障检测方案。
6. A Remote Control Strategy for an Autonomous Vehicle with Slow Sensor Using Kalman Filtering and Dual-Rate Control [O] . Ángel Cuenca, Wei Zhan, Julián Salt, 2019

机译：基于卡尔曼滤波和双速率控制的带慢速传感器的自主车辆远程控制策略
7. Sensor Fault Detection in Small Autonomous Helicopters using Observer/Kalman Filter Identification [O] . G. Heredia, A. Ollero 2014

机译：基于观测器/卡尔曼滤波器识别的小型自主直升机传感器故障检测
8. Comparison of a Distributed Kalman Filter Versus a Centralized Kalman Filter with Fault Detection Considerations. [R] . Lawrence, P. J. 1993

机译：分布式卡尔曼滤波器与具有故障检测考虑的集中卡尔曼滤波器的比较。

Sensor fault detection in small autonomous helicopters using observer/Kalman filter identification

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