Multi Sensor Data Fusion for Sensor Failure Detection and Health Monitoring
Gopalaratnam, Girija and Zorn, Christoph and Koch, Andreas (2005) Multi Sensor Data Fusion for Sensor Failure Detection and Health Monitoring. In: Proceedings of AIAA Guidance, Navigation and Control Conference. AIAA Guidance, Navigation and Control Conference, 2005-08-15 - 2005-08-19, San Francisco, CA, USA.
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The German Aerospace Center (DLR) Institute of Flight Systems has developed a demonstrator for enhanced autonomous technologies. Safe operation in civilian airspace of the small scale autonomous helicopter is a long term research aim. The use of low cost micro sensors in ARTIS (Autonomous Rotorcraft Test bed for Intelligent Systems) and the high level of noise make intelligent data fusion a mandatory requirement for health monitoring. In this paper model based magnetometer failure detection for ARTIS is implemented and investigated. Commonly encountered sensor failures are emulated using simulated and real magnetometer data. Failure detection is achieved by residual monitoring. The health monitoring utilizes the model based redundancies present in the established flight path reconstruction model, which is based on two sequential Extended Kalman filter. The results indicate the feasibility of the methodology for this type of rotorcraft vehicle. The work suggests that fusion of additional vision sensor data would not only provide an excellent reconfiguration strategy but also enhance the detection of small magnetometer drift failure types.
|Document Type:||Conference or Workshop Item (Paper)|
|Title:||Multi Sensor Data Fusion for Sensor Failure Detection and Health Monitoring|
|Journal or Publication Title:||Proceedings of AIAA Guidance, Navigation and Control Conference|
|Keywords:||Health Monitoring, Extended Kalman Filtering, Magnetometer Failure|
|Event Title:||AIAA Guidance, Navigation and Control Conference|
|Event Location:||San Francisco, CA, USA|
|Event Type:||international Conference|
|Event Dates:||2005-08-15 - 2005-08-19|
|HGF - Research field:||Aeronautics, Space and Transport|
|HGF - Program:||Aeronautics|
|HGF - Program Themes:||L RR - Rotorcraft Research|
|DLR - Research area:||Aeronautics|
|DLR - Program:||L RR - Rotorcraft Research|
|DLR - Research theme (Project):||L - The Smart Rotorcraft|
|Institutes and Institutions:||Institute of Flight Systems > System Automation|
|Deposited By:||Andreas Koch|
|Deposited On:||07 Jan 2008|
|Last Modified:||27 Apr 2009 14:33|
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