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

Table 2

Sensor fault detection with drift of 10% 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	0.24	4.17	0.15	0.95	2.59	1.26	0.29	0.00	0.00	0.75	3.98	0.85
Undetected faults	0	0	0	0	0	0	0	0	0	1	2	1
False alarms	0	0	1	2	0	1	2	0	0	0	1	0