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

摘要

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