Simultaneous observer based sensor diagnosis and speed estimation of Unmanned Aerial Vehicle

In this contribution we investigate the problem of simultaneous observer based sensor diagnosis and speed estimation of unmanned aerial vehicle (UAV). The main features lie in the use of a useful bank of reduced order observers to detect and isolate faulty sensors and in the same time to provide unbiased speed estimation of UAV from accelerometers. From a structural analysis, we provide all trajectories for which faults would be detected and estimated. The theoretical result is summarized into the stability analysis, established through the Lyapunov approach and Barbalat lemma. The existence condition is expressed in terms of physical variables of the UAV. Performances and easiness of implementation of the proposed technique are shown through a quadrotor UAV.