EKF-Based Fault Detection of Unmanned Aerial Vehicle Flight Control System

Abstract

Abstract:

Abstract： The unmanned aerial vehicle (UAV) flight control system is a typical multisensor closedloop system. Since actuator faults and sensor faults could seriously affect the security and reliability of the system, fault detection of the UAV flight control system is of great significance. This paper deals with the problem of fault detection of the closed-loop nonlinear model of the UAV flight control system. The nonlinear model of longitudinal motion of the UAV in the presence of wind disturbance was introduced. The extended Kalman filter (EKF) was utilized for the residual generation. The Chisquare test was selected for the residual evaluation and the fault detection task for UAV closedloop system was accomplished. Finally, based on the simulink platform of a certain type of UAV, simulation results are provided to illustrate the effectiveness of the approach proposed in the case of pitut fault and elevator fault.

Key words: unmanned aerial vehicle (UAV), flight control system, extended Kalman filter (EKF), fault detection

LIU Xiaodong,ZHONG Maiying,LIU Hai. EKF-Based Fault Detection of Unmanned Aerial Vehicle Flight Control System[J]. Journal of Shanghai Jiaotong University, 2015, 49(06): 884-888.

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