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Communication Dans Un Congrès Année : 2019

Vision-based Gyroscope Fault Detection for UAVs

Résumé

This paper presents a vision-based fault detection and isolation architecture for unmanned aerial vehicles. The vehicle’s attitude is computed from visual input through a horizon tracking algorithm, independently of any other sensor. In a second stage, two Kalman filters are used for fault detection and identification in two gyroscopes. The loosely coupled architecture is suitable for real-time application. The algorithm was implemented with the ROS framework and the system’s performance is evaluated in a real-time application scenario with artificially introduced sensor faults.
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Dates et versions

hal-02143320 , version 1 (16-11-2023)

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Benedict Simlinger, Guillaume Ducard. Vision-based Gyroscope Fault Detection for UAVs. 2019 IEEE Sensors Applications Symposium (SAS), IEEE, Mar 2019, Sophia Antipolis, France. pp.1-6, ⟨10.1109/SAS.2019.8705965⟩. ⟨hal-02143320⟩
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