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

Table 4

Sensor fault detection with sensor output of 10% of the nominal output.

		GPS			ACCEL			MAG			GYRO
	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍	𝑋	𝑌	𝑍
Mean detection time	1.10	0.85	5.32	0.88	0.47	4.49	1.54	0.08	0.08	2.88	3.75	4.82
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