33th Congress of the International Council of the Aeronautical Sciences

06.2 - Flight Dynamics and Control (UAV related)

FAULT DIAGNOSIS FOR SENSOR AND ACTUATOR OF HEXACOPTER UAV USING DUAL EXTENDED KALMAN FILTER

Y.J. Kim╣, T.G. Kim╣, S.K. Kim╣; ╣Chungnam National University, South Korea

This paper performs the fault diagnosis for the hexacopter attitude control system using a dual EKF. Fault detection and diagnosis (FDD) is conducted by using the analytical redundancy of angular rates. Two EKFs are designed for dynamics and kinematics, respectively. FDD of the IMU sensor and actuator is conducted using these EKFs. The performance of the FDD for several scenarios is verified.


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