Model-based Sensor Fault Detection in an Autonomous Solar-powered Aircraft
Linköping electronic conference proceedings(2019)
摘要
Developed by Elektra Solar, an official spin-off of the DLR Institute for Robotics and Mechatronics (DLR-RMC), the Elektra 2 is a solar-powered autonomous aircraft designed to endure long distances as well as high altitudes. The main motivation of this work is to develop a sensor fault detection and reconfiguration (FDR) approach to be applied to the Elektra 2 Aircraft. Currently, the Elektra 2 Solar aircraft provides a simple limit-checking of certain IMU measurements such as aircraft angular velocities and pitch, roll and yaw angles. In the proposed FDR approach, residual generation for both longitudinal and lateral dynamics of the aircraft is achieved based on the design of Kalman filters. Combined with the sequential probability ratio test (SPRT) as a decision function, selected aircraft sensor residuals are evaluated using an adaptive threshold with low sensitivity to control signal variation and noise and high sensitivity to fault symptoms. Due to the critical aspects of IMU faults, the reconfiguration action is defined as switching from primary IMU to backup IMU in case of fault occurrence.
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