Fault detection for sensors of unmanned aerial vehicles is essential for ensuring flight security, in which the flight control system conducts real-time control for the vehicles relying on the sensing information from sensors, and erroneous sensor data will lead to false flight control commands, causing undesirable consequences. However, because of the scarcity of faulty instances, it still remains a challenging issue for flight sensor fault detection. The one-class support vector machine approach is a favorable classifier without negative samples, however, it is sensitive to outliers that deviate from the center and lacks a mechanism for coping with them. The compactness of its decision boundary is influenced, leading to the degradation of detection rate. To deal with this issue, an optimized one-class support vector machine approach regulated by local density is proposed in this paper, which regulates the tolerance extents of its decision boundary to the outliers according to their extent of abnormality indicated by their local densities. The application scope of the local density theory is narrowed to keep the internal instances unchanged and a rule for assigning the outliers continuous density coefficients is raised. Simulation results on a real flight control system model have proved its effectiveness and superiority.
UAV Sensor Fault Detection Using a Classifier without Negative Samples: A Local Density Regulated Optimization Algorithm