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

Table 9

Fault pattern injected over observers and target position sensors.

Offset error amplitude (meters)	Affected axis	Start time (seconds)	Duration (seconds)
+1	x	300	5
+1	y	305	5
+1	z	310	5
−1	x	315	5
−1	y	320	5
−1	z	325	5