Cooperative Virtual Sensor for Fault Detection and Identification in Multi-UAV Applications

Table 2

Models of different position estimation faults and their consequences in UAV control.

Fault	Fault model	Effect over position/trajectory	Response error bounded
Lock-in-place		Linear motion with no end, exceeding the goal position	No
Drift		Progressive deviation from the desired position/trajectory	No
Offset		Offset error in the trajectory/position tracking	Yes
Jumps (hops)		Error jump in the trajectory/position tracking	Yes
Noise		Oscillations, possible instability	Yes