Sensors 2009, 9(9), 7566-7579; doi:10.3390/s90907566
Article

Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors

Guillermo Heredia 1,* email, Fernando Caballero 1 , Iván Maza 1 , Luis Merino 2 , Antidio Viguria 3  and Aníbal Ollero 1,3 email
1 Robotics, Vision and Control Group, University of Seville, Camino de los Descubrimientos s/n, 41092, Seville, Spain 2 Pablo de Olavide University, Crta. Utrera km. 1, 41013 Seville, Spain 3 Centro Avanzado de Tecnologías Aeroespaciales (CATEC), Aeropolis, 41309 Seville, Spain
* Author to whom correspondence should be addressed.
Received: 26 August 2009; in revised form: 14 September 2009 / Accepted: 21 September 2009 / Published: 24 September 2009
(This article belongs to the Special Issue State-of-the-Art Sensors Technology in Spain)
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Abstract: This paper presents a method to increase the reliability of Unmanned Aerial Vehicle (UAV) sensor Fault Detection and Identification (FDI) in a multi-UAV context. Differential Global Positioning System (DGPS) and inertial sensors are used for sensor FDI in each UAV. The method uses additional position estimations that augment individual UAV FDI system. These additional estimations are obtained using images from the same planar scene taken from two different UAVs. Since accuracy and noise level of the estimation depends on several factors, dynamic replanning of the multi-UAV team can be used to obtain a better estimation in case of faults caused by slow growing errors of absolute position estimation that cannot be detected by using local FDI in the UAVs. Experimental results with data from two real UAVs are also presented.
Keywords: UAVs; fault detection and identification; multi-UAV; vision sensors; GPS

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Cite This Article

MDPI and ACS Style

Heredia, G.; Caballero, F.; Maza, I.; Merino, L.; Viguria, A.; Ollero, A. Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors. Sensors 2009, 9, 7566-7579.

AMA Style

Heredia G, Caballero F, Maza I, Merino L, Viguria A, Ollero A. Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors. Sensors. 2009; 9(9):7566-7579.

Chicago/Turabian Style

Heredia, Guillermo; Caballero, Fernando; Maza, Iván; Merino, Luis; Viguria, Antidio; Ollero, Aníbal. 2009. "Multi-Unmanned Aerial Vehicle (UAV) Cooperative Fault Detection Employing Differential Global Positioning (DGPS), Inertial and Vision Sensors." Sensors 9, no. 9: 7566-7579.

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