Detection of Sensor Faults in Small Helicopter UAVs Using Observer/Kalman Filter Identification

Table 3

Sensor fault detection with: a sensor output of 50% of the nominal output.

		GPS			ACCEL			MAG			GYRO
	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍
Mean detection time	1.23	0.00	2.01	1.47	0.48	4.32	1.34	0.08	0.08	1.57	3.20	5.02
Undetected faults	0	0	0	0	0	0	0	0	0	0	0	0
False alarms	0	0	0	0	0	0	0	0	0	0	0	0