Sensor fault detection of quadrotor using nonlinear parity space relations

In this study a fault detection and isolation scheme (FDI) is proposed, to detect sensor faults in the dynamic be-haveriors of the model of the quadrotor vehicle, using nonlinear analytical redundancy (NLAR) relations also called nonlinear parity space relations. This technique is an particularly useful and interesting because it gives us to explicitly derive the maximum possible number of independent tests from the nonlinear state space representation of the system. Finally, the results prove the effectiveness of the proposed scheme.