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A fault-tolerant attitude estimation method for quadrotors based on analytical redundancy

机译：基于解析冗余的四旋翼容错姿态估计方法

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Inertial sensors and velocity measurement sensors are commonly used for attitude estimation of quadrotors. In the previous fault-tolerant attitude estimation methods, the two types of sensors' faults are treated separately. When one sensor is detected, the other sensor is assumed to be always healthy. In this paper, the situation is improved by introducing the rolling & pitching moment model of quadrotors. The rolling & pitching moment model, x-axis gyro, y-axis gyro and velocity measurement sensors are fused, forming an analytical redundancy based fault-tolerant filter. The real flight experiment data are used for validation, showing that the faults of x-axis gyro, y-axis gyro and velocity measurement sensors can all be detected and isolated, and the state estimation accuracy is improved compared with the traditional method when gyros are faulty. (C) 2019 Elsevier Masson SAS. All rights reserved.
机译：惯性传感器和速度测量传感器通常用于四旋翼的姿态估计。在以前的容错姿态估计方法中，两种类型的传感器故障是分开处理的。当检测到一个传感器时，假定另一个传感器始终健康。本文通过介绍四旋翼的滚动和俯仰力矩模型来改善这种情况。滚动和俯仰力矩模型，x轴陀螺仪，y轴陀螺仪和速度测量传感器融合在一起，形成了基于分析冗余的容错滤波器。实际飞行实验数据进行验证，表明x轴陀螺仪，y轴陀螺仪和测速传感器的故障都可以被检测和隔离，与传统方法相比，状态估计的精度提高了。有毛病。 （C）2019 Elsevier Masson SAS。版权所有。

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