TY - GEN
T1 - A fault diagnosis framework for MAVLink-enabled UAVs using structural analysis
AU - Zogopoulos-Papaliakos, Georgios
AU - Logothetis, Michalis
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - MAVLink is a popular message protocol for small Unmanned Aerial Vehicles (UAVs). In this work, we present a Fault Detection and Isolation (FDI) framework for fixed-wing UAVs which takes advantage of the information conveyed in MAVLink telemetry streams and produces a bank of residual generators. Structural Analysis is employed to systematically handle the varying set of available measurements, identify the observable faults and adjust the FDI system accordingly. Structural detectability and isolability analyses are carried out. A case-study on a real-life telemetry log of a UAV crash demonstrates the efficacy of the proposed approach.
AB - MAVLink is a popular message protocol for small Unmanned Aerial Vehicles (UAVs). In this work, we present a Fault Detection and Isolation (FDI) framework for fixed-wing UAVs which takes advantage of the information conveyed in MAVLink telemetry streams and produces a bank of residual generators. Structural Analysis is employed to systematically handle the varying set of available measurements, identify the observable faults and adjust the FDI system accordingly. Structural detectability and isolability analyses are carried out. A case-study on a real-life telemetry log of a UAV crash demonstrates the efficacy of the proposed approach.
UR - http://www.scopus.com/inward/record.url?scp=85071461842&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85071461842&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8793760
DO - 10.1109/ICRA.2019.8793760
M3 - Conference contribution
AN - SCOPUS:85071461842
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 676
EP - 682
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -