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