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A Particle Filtering Approach for Fault Detection and Isolation of UAV IMU Sensors: Design, Implementation and

Egidio D'Amato1, Vito Antonio Nardi2, Immacolata Notaro3

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This study introduces a sensor fault detection and isolation (SFDI) algorithm for unmanned aerial vehicles (UAVs) using a duplex sensor architecture. The particle filter-based approach enhances UAV reliability and payload capacity in low-cost drones.

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FDIUAV fault detectionanalytical redundancyduplex attitude estimation architecturefault detection and isolationfault tolerant attitude estimationparticle filter

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Area of Science:

  • Aerospace Engineering
  • Robotics
  • Control Systems

Background:

  • Sensor fault detection and isolation (SFDI) is critical for unmanned aerial vehicle (UAV) reliability, particularly for attitude estimation in flight control.
  • Traditional triplex redundant architectures limit payload capacity in low-cost, low-weight drones.
  • Duplex sensor architectures offer a viable alternative for weight- and cost-sensitive UAVs.

Purpose of the Study:

  • To propose and validate a novel SFDI algorithm for multi-rotor drones utilizing a duplex sensor configuration.
  • To enable robust attitude estimation in UAVs with reduced sensor redundancy.
  • To address the limitations of payload capacity imposed by conventional redundant sensor systems.

Main Methods:

  • Development of a particle filter-based SFDI algorithm for processing data from two 9-Degrees-of-Freedom (9-DoF) Inertial Measurement Units (IMUs).
  • Implementation of the algorithm on a low-cost Raspberry Pi embedded platform.
  • Experimental validation using realistic fault injection on a tri-rotor aircraft.

Main Results:

  • The proposed SFDI algorithm effectively detects and isolates IMU faults in a duplex sensor setup.
  • Experimental tests confirmed the algorithm's robustness and effectiveness on a real UAV.
  • Sensitivity analysis provided insights into parameter tuning for optimal performance, computational load, and reliability.

Conclusions:

  • The developed SFDI algorithm is suitable for low-cost multi-rotor drones with duplex sensor architectures.
  • This approach enhances UAV reliability without significantly compromising payload capacity.
  • The particle filter method offers a promising solution for real-time fault management in embedded UAV systems.