Fault Detection Statistics in the Presence of Additive Measurement Errors

In the study, the noncentral Wishart matrix trace-based fault detection statistics is proposed for sensor/actuator fault detection in the presence of measurement bias. As the difference from the most of existing innovation-based fault detection methods, this approach allows to detect sensor/actuator faults in the presence of additive measurement errors. The trace of the noncentral Wishart matrix is used in this method for the fault detection statistics. The proposed innovation approach-based sensor/actuator fault detection using trace of the noncentral Wishart matrix is applied to a dynamic model of an unmanned aerial vehicle (UAV). The sensor bias and actuator loss of control effectiveness type faults are considered. The proposed and traditional methods for detecting faults in the presence of slowly developing gyroscope drift are considered and compared.