Research on Fault Detection and Isolation Algorithm for Hexacopters Based on Detection Filter

Rotor UAV is a small, lightweight and low-cost unmanned vehicles. In recent years, it has been widely used in production and daily life. With the rotor unmanned aerial vehicles more and more appear in people's work and life, UAV flight safety issues have become a concern. Many researches on controllability and fault-tolerant control strategy of rotor UAV are being carried out. This paper mainly designs a fault detection strategy based on the detection filter of the hexacopter. Firstly, establishing a mathematical model based on the kinematics and dynamics principles of hexacopter. Secondly, making an introduction for the basic principles of the detection filter. On the basis of the principles, a detection filter is designed to detect the faults which may occur on the actuators of the hexacopter. Finally, the performance of the fault detection method based on the detection filter is tested by simulation experiments