Multisensor Data-Fusion-Based Approach to Airspeed Measurement Fault Detection for Unmanned Aerial Vehicles

Fault detection (FD) plays an important role in guaranteeing system safety and reliability for unmanned aerial vehicles (UAVs). This paper focuses on developing an alternative approach to FD for airspeed sensor in UAVs by using data from gyros, accelerometers, global positioning system, and wind vanes. Based on the kinematics model of the UAV, an estimator is proposed to provide analytical redundancy using information from the above-mentioned...