Online Fault Detection of Fixed-Wing UAV Based on DKPCA Algorithm with Multiple Operation Conditions Considered

Abstract

The mission execution process of a fixed-wing UAV has multiple phases and multiple operation conditions. Its parameters are nonlinear and dynamic. These characteristics make its online fault detection rather complicated. To carry out the fault detection, this paper selects nine key parameters of the transverse, longitudinal and velocity control loops of the UAV to characterize its real-time conditions. The core parameters are dynamically preprocessed to construct an augmented matrix so as to describe the dynamic characteristics of the UAV. Then, the improved k-mediods* algorithm is used to cluster the operation conditions of the UAVs by means of augmented dimensions. Neural networks are used to achieve the online matching of operation conditions. To overcome the nonlinearity of the UAV, the fault detection is performed by using the DKPCA algorithm; the fault monitoring is conducted through constructing the compound indexes of SPE and T2, notated as FAI. Furthermore, the fault separation algorithm is proposed to specify the variables of fault from the augmented high-dimensional data set. In order to deal with the erroneous reporting of faults due to measurement errors, the paper conducts the wavelet denoising of FAI, the compound indexes of the DKPCA algorithm. Finally, the data set collected from a real UAV flight is used to verify the effectiveness of the DKPCA algorithm for operation condition clustering and matching, fault detection and wavelet denoising.