Strategies for Sensor-fault Compensation on UAVs: Review, Discussions & Additions

Abstract : This paper provides a review of different possible strategies to compute meaningful states of an unmanned aerial vehicle (UAV) in the presence of sensor faults. The paper reviews some strategies that enable to compute useful outputs and to reconstruct sensor data when some sensor(s) become(s) deficient. In addition to a classical sensor suite for UAVs (IMU, GPS, barometer and airspeed sensor), the paper introduces the benefits of using visual aids for sensor-fault tolerance. Finally, the paper provides the reader with an overview schematic - discussed throughout the paper- in order to summarize some possible sensor fault-tolerant systems in UAVs.
Type de document :
Communication dans un congrès
IEEE European Control Conference, Jun 2014, Strasbourg, France. Proceedings of the IEEE European Control Conference, pp.1963 - 1968


https://hal.archives-ouvertes.fr/hal-01301772
Contributeur : Guillaume Ducard <>
Soumis le : mardi 12 avril 2016 - 18:38:49
Dernière modification le : vendredi 9 septembre 2016 - 11:52:35

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  • HAL Id : hal-01301772, version 1

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Guillaume Ducard, Rudin Konrad, Omari Sammy, Roland Siegwart. Strategies for Sensor-fault Compensation on UAVs: Review, Discussions & Additions. IEEE European Control Conference, Jun 2014, Strasbourg, France. Proceedings of the IEEE European Control Conference, pp.1963 - 1968. <hal-01301772>

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