HW VS SW SENSOR REDUNDANCY: FAULT DETECTION AND ISOLATION OBSERVER BASED APPROACHES FOR INERTIAL MEASUREMENT UNITS

摘要

In this paper the use of different observerschemes based on Kalman Filtering for thedetection and isolation of aircraft abrupt andincipient sensor faults on Inertial MeasurementUnits (IMUs) is discussed.The possibility of using a dynamic 6DoF modelof the aircraft is explored and compared withthe use of a purely kinematic model. Both thepossibilities are investigated assuming that twoIMUs are available on board, and the analyticredundancy provided by the observers is used tovote the healthy one, when a fault occurs onaccelerometers, gyros or magnetometers.The proposed schemes are applied to simulatedflight data of a General Aviation aircraftgenerated in the presence of disturbances anduncertainties.Preliminary experimental results using two lowcost IMUs are also shown for possibleapplications to improve safety and reliability ofsmall Unmanned Air Vehicles.