Fast Loss of Effectiveness Detection on a Quadrotor Using Onboard Sensors and a Kalman Estimation Approach

B.A. Strack Van Schijndel; S. Sun; C.C. de Visser

doi:10.1109/ICUAS57906.2023.10156464

Fast Loss of Effectiveness Detection on a Quadrotor Using Onboard Sensors and a Kalman Estimation Approach

B.A. Strack Van Schijndel^*, S. Sun, C.C. de Visser

^*Corresponding author for this work

Control & Simulation

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

6 Citations (SciVal)

89 Downloads (Pure)

Abstract

This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman estimator estimates a stochastic effectiveness factor for every actuator, using only onboard RPM, gyro and accelerometer measurements. Then, a hypothesis test identifies the failed actuator. This algorithm is validated online in real-time, also as part of an active fault tolerant control system. Loss of actuator effectiveness is induced by ejecting the propellers from the motors. The robustness of this algorithm is further investigated offline over a range of parameter settings by replaying real flight data containing 26 propeller ejections. The detection delays are found to be in the 30∼130 ms range, without missed detections or false alarms occurring.

Original language	English
Title of host publication	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
Publisher	IEEE
Number of pages	8
ISBN (Electronic)	9798350310375
DOIs	https://doi.org/10.1109/ICUAS57906.2023.10156464
Publication status	Published - 2023
Event	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 - Warsaw, Poland Duration: 6 Jun 2023 → 9 Jun 2023

Conference

Conference	2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023
Country/Territory	Poland
City	Warsaw
Period	6/06/23 → 9/06/23

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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@inproceedings{87905f6e2d35460c8f951f585f3ff97c,

title = "Fast Loss of Effectiveness Detection on a Quadrotor Using Onboard Sensors and a Kalman Estimation Approach",

abstract = "This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman estimator estimates a stochastic effectiveness factor for every actuator, using only onboard RPM, gyro and accelerometer measurements. Then, a hypothesis test identifies the failed actuator. This algorithm is validated online in real-time, also as part of an active fault tolerant control system. Loss of actuator effectiveness is induced by ejecting the propellers from the motors. The robustness of this algorithm is further investigated offline over a range of parameter settings by replaying real flight data containing 26 propeller ejections. The detection delays are found to be in the 30∼130 ms range, without missed detections or false alarms occurring.",

author = "{Strack Van Schijndel}, B.A. and S. Sun and {de Visser}, C.C.",

note = "Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. ; 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023 ; Conference date: 06-06-2023 Through 09-06-2023",

year = "2023",

doi = "10.1109/ICUAS57906.2023.10156464",

language = "English",

booktitle = "2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023",

publisher = "IEEE",

address = "United States",

}

Strack Van Schijndel, BA, Sun, S & de Visser, CC 2023, Fast Loss of Effectiveness Detection on a Quadrotor Using Onboard Sensors and a Kalman Estimation Approach. in 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023. IEEE, 2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023, Warsaw, Poland, 6/06/23. https://doi.org/10.1109/ICUAS57906.2023.10156464

Fast Loss of Effectiveness Detection on a Quadrotor Using Onboard Sensors and a Kalman Estimation Approach. / Strack Van Schijndel, B.A.; Sun, S.; de Visser, C.C.
2023 International Conference on Unmanned Aircraft Systems, ICUAS 2023. IEEE, 2023.

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Strack Van Schijndel, B.A.

AU - Sun, S.

AU - de Visser, C.C.

N1 - Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

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N2 - This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman estimator estimates a stochastic effectiveness factor for every actuator, using only onboard RPM, gyro and accelerometer measurements. Then, a hypothesis test identifies the failed actuator. This algorithm is validated online in real-time, also as part of an active fault tolerant control system. Loss of actuator effectiveness is induced by ejecting the propellers from the motors. The robustness of this algorithm is further investigated offline over a range of parameter settings by replaying real flight data containing 26 propeller ejections. The detection delays are found to be in the 30∼130 ms range, without missed detections or false alarms occurring.

AB - This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman estimator estimates a stochastic effectiveness factor for every actuator, using only onboard RPM, gyro and accelerometer measurements. Then, a hypothesis test identifies the failed actuator. This algorithm is validated online in real-time, also as part of an active fault tolerant control system. Loss of actuator effectiveness is induced by ejecting the propellers from the motors. The robustness of this algorithm is further investigated offline over a range of parameter settings by replaying real flight data containing 26 propeller ejections. The detection delays are found to be in the 30∼130 ms range, without missed detections or false alarms occurring.

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M3 - Conference contribution

AN - SCOPUS:85165676018

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Y2 - 6 June 2023 through 9 June 2023

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Fast Loss of Effectiveness Detection on a Quadrotor Using Onboard Sensors and a Kalman Estimation Approach

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