Sensor Fault Diagnosis for an UAV Control System Based on a Strong Tracking Kalman Filter

The fault diagnosis of unmanned aerial vehicle (UAV) flight control system is an important research of UAV in health management. The sensor is the link which easiest to have problems of the flight control system. Making timely and accurate prediction of its faults is particularly important. A strong tracking Kalman Filter method for the sensor fault diagnosis of UAV flight control system was presented in this paper. The parameters of the system were extended to the state variables, the sensor fault observer was constructed, and the joint estimation of states and parameters of flight control system were gotten. The method can be used to real-time estimate the unmeasured states and time-varying parameters. The results of simulation experiments show that the method has a good real-time and accuracy in the sensor fault diagnosis of flight control system.