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

Table 1

Sensor fault detection with drift of 50% of maximum sensor value (OKID filters).

	GPS			ACCEL			MAG			GYRO
	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍
Mean detection time	0.00	0.21	0.15	0.00	0.10	0.15	0.19	0.31	0.02	0.22	0.02	0.10
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