Abstract
Unmanned Aerial Vehicles need a large degree of tolerance to faults. One of the most
important steps towards this is the ability to detect and isolate faults in sensors and actuators in
real time and make remedial actions to avoid that faults develop to failure. This paper analyses
the possibilities of detecting faults in the pitot tube of a small unmanned aerial vehicle, a fault
that easily causes a crash if not diagnosed and handled in time. Using as redundant information
the velocity measured from an onboard GPS receiver, the air-speed estimated from engine
throttle and the pitot tube based airspeed, the paper analyses the properties of residuals. A
dedicated change detector is suggested that works on pre-whitened residuals and a generalised
likelihood ratio test is derived for a Cauchy probability density, which the residuals are observed
to have. A detection scheme is obtained using a threshold that provides desired quantities of
false alarm and detection probabilities. Fault detectors are build based on raw residual data
and on a whitened edition of these. The two detectors are compared against recorded telemetry
data of an actual event where a pitot tube defect occurred.
Original language | English |
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Title of host publication | 7. Symposium on Intelligent Autonomous Vehicles |
Publication date | 2010 |
Publication status | Published - 2010 |
Event | 7th IFAC Symposium on Intelligent Autonomous Vehicles - Lecce, Italy Duration: 6 Sept 2010 → 8 Sept 2010 Conference number: 7 http://iav2010.unile.it/ |
Conference
Conference | 7th IFAC Symposium on Intelligent Autonomous Vehicles |
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Number | 7 |
Country/Territory | Italy |
City | Lecce |
Period | 06/09/2010 → 08/09/2010 |
Internet address |
Keywords
- Change detection
- Pitot tube
- Unmanned Aerial Vehicle
- Fault detection