Abstract
Inertial sensors and velocity measurement sensors are commonly used for attitude estimation of quadrotors. In the previous fault-tolerant attitude estimation methods, the two types of sensors' faults are treated separately. When one sensor is detected, the other sensor is assumed to be always healthy. In this paper, the situation is improved by introducing the rolling & pitching moment model of quadrotors. The rolling & pitching moment model, x-axis gyro, y-axis gyro and velocity measurement sensors are fused, forming an analytical redundancy based fault-tolerant filter. The real flight experiment data are used for validation, showing that the faults of x-axis gyro, y-axis gyro and velocity measurement sensors can all be detected and isolated, and the state estimation accuracy is improved compared with the traditional method when gyros are faulty.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
