Abstract
In this study, triple redundant inertial sensors are combined into one module and the weighted average of the acceleration measurements from the three sensors is used to control the attitude of a small multi-copter-type drone, with flight tests used to verify the validity of the approach. In particular, a sensor failure detection and accommodation algorithm based on three redundant sensors is proven to be effective in these tests. This fault detection and accommodation algorithm improves the reliability of drones. A fault injection function is designed for flight tests, and the fault detection and accommodation algorithm is implemented on a flight control computer (Pixhawk). A method for calibrating the sensor output size and alignment with respect to the body frame is also developed.
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