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

Table 3

Identification of possible faults in some position estimation sensors and methods.

Sensor	Source of the fault	Fault model
GPS	RF signal loss, variable number of visible satellites	Lock-in-place; Drift; Jumps; Noise
Range sensors (ultrasonic devices)	Interference with obstacles, echoes, multipath	Jumps; Noise
Vicon	Infrared light interference, occlusions	Jumps; Noise
Vision-based SLAM	Errors in feature-point association, integration of estimation error	Drift; Noise
Dead-reckoning	Error integration	Drift; Offset