Robust Adaptive Kalman Filter for estimation of UAV dynamics in the presence of sensor/actuator faults

Hajiyev C., SOKEN H. E.

AEROSPACE SCIENCE AND TECHNOLOGY, cilt.28, sa.1, ss.376-383, 2013 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 28 Sayı: 1
  • Basım Tarihi: 2013
  • Doi Numarası: 10.1016/j.ast.2012.12.003
  • Dergi Adı: AEROSPACE SCIENCE AND TECHNOLOGY
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Sayfa Sayıları: ss.376-383
  • İstanbul Teknik Üniversitesi Adresli: Hayır

Özet

In this paper a Robust Adaptive Kalman Filter (RAKF) is introduced. The RAKF incorporates measurement and process noise covariance adaptation procedures (R and Q adaptation respectively) and utilizes adaptive factors in order to adapt itself against sensor/actuator faults. Thus the filter stands robust against the faults and even in case of sensor/actuator failure keeps providing accurate estimation results. In a single algorithm, the RAKF detects the fault, isolates it and applies the required adaptation process such that the estimation characteristic is not deteriorated. The performance of the proposed RAKF is investigated by simulations for the state estimation procedure of an Unmanned Aerial Vehicle. (C) 2012 Elsevier Masson SAS. All rights reserved.