Next Article in Journal
Fiber Loop Ringdown — a Time-Domain Sensing Technique for Multi-Function Fiber Optic Sensor Platforms: Current Status and Design Perspectives
Next Article in Special Issue
A Real-Time Tool Positioning Sensor for Machine-Tools
Previous Article in Journal
Precise 3D Lug Pose Detection Sensor for Automatic Robot Welding Using a Structured-Light Vision System
Previous Article in Special Issue
Modelling and Calibration Technique of Laser Triangulation Sensors for Integration in Robot Arms and Articulated Arm Coordinate Measuring Machines
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

1,* , 1, 1, 2, 3 and 1,3
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)
View Full-Text   |   Download PDF [530 KB, uploaded 21 June 2014]   |   Browse Figures
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 UAVs; fault detection and identification; multi-UAV; vision sensors; GPS
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Export to BibTeX |
EndNote


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.


Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert