機載センサとカルマンフィルタによるクアッドロータの高速故障検出
Fast Fault Detection on a Quadrotor using Onboard Sensors and a Kalman Filter Approach
機載の回転数・ジャイロ・加速度センサのみからカルマンフィルタで各アクチュエータの有効性係数を推定し、仮説検定で故障を30〜130msで検出する手法を実機検証した。
著者: Bram Strack van Schijndel, Sihao Sun, Coen de Visser
分類: cs.RO
原文アブストラクト
This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman filter estimator estimates a stochastic effectiveness factor for every actuator, using only onboard RPM, gyro and accelerometer measurements. Then, a hypothesis test identifies the failed actuator. This algorithm is validated online in real-time, also as part of an active fault tolerant control system. Loss of actuator effectiveness is induced by ejecting the propellers from the motors. The robustness of this algorithm is further investigated offline over a range of parameter settings by replaying real flight data containing 26 propeller ejections. The detection delays are found to be in the 30 to 130 ms range, without missed detections or false alarms occurring.
