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

Table 5

Similarities and differences of the variable thresholds defined in (4) and (5).

Similarities

Differences

(i) The offset term / compensates nominal estimation errors associated to the CVS.; (ii) The value of the threshold increases with the mean observation distance to compensate for the loss of accuracy in the CVS estimation.; (iii) Both thresholds are more tolerant when the separation angle between the observers is small and the uncertainty in the CVS is high.

(i) allows the detection of faults in either the observer or in the target UAVs, whereas assumes that the observers’ sensors are reliable and only the target sensors may be faulty.; (ii) is evaluated by pairs of observers (, ), whereas considers the information of all the observers through the mean value.; (iii) adds a term that makes the threshold more tolerant when the number of observers is lower.