{"id":"https://openalex.org/W2152612784","doi":"https://doi.org/10.1109/cdc.2010.5716956","title":"Detection and accommodation of sensor faults in UAVs- a comparison of NN and EKF based approaches","display_name":"Detection and accommodation of sensor faults in UAVs- a comparison of NN and EKF based approaches","publication_year":2010,"publication_date":"2010-12-01","ids":{"openalex":"https://openalex.org/W2152612784","doi":"https://doi.org/10.1109/cdc.2010.5716956","mag":"2152612784"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2010.5716956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5716956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5108804275","display_name":"Ihab Samy","orcid":null},"institutions":[{"id":"https://openalex.org/I153648349","display_name":"University of Leicester","ror":"https://ror.org/04h699437","country_code":"GB","type":"education","lineage":["https://openalex.org/I153648349"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ihab Samy","raw_affiliation_strings":["University of Leicester, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Leicester, UK","institution_ids":["https://openalex.org/I153648349"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007050558","display_name":"Ian Postlethwaite","orcid":"https://orcid.org/0000-0002-0267-1831"},"institutions":[{"id":"https://openalex.org/I32394136","display_name":"Northumbria University","ror":"https://ror.org/049e6bc10","country_code":"GB","type":"education","lineage":["https://openalex.org/I32394136"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Ian Postlethwaite","raw_affiliation_strings":["Northumbria University, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Northumbria University, UK","institution_ids":["https://openalex.org/I32394136"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101448721","display_name":"Da\u2010Wei Gu","orcid":"https://orcid.org/0000-0002-3518-6007"},"institutions":[{"id":"https://openalex.org/I153648349","display_name":"University of Leicester","ror":"https://ror.org/04h699437","country_code":"GB","type":"education","lineage":["https://openalex.org/I153648349"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Da-Wei Gu","raw_affiliation_strings":["Head of Control & Instrumentation Research Group, University of Leicester, UK"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Head of Control & Instrumentation Research Group, University of Leicester, UK","institution_ids":["https://openalex.org/I153648349"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.7292,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.79150502,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":97},"biblio":{"volume":null,"issue":null,"first_page":"4365","last_page":"4372"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10711","display_name":"Target Tracking and Data Fusion in Sensor Networks","score":0.9959999918937683,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T14470","display_name":"Advanced Data Processing Techniques","score":0.9807999730110168,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7321202158927917},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6899314522743225},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6431294679641724},{"id":"https://openalex.org/keywords/redundancy","display_name":"Redundancy (engineering)","score":0.627460241317749},{"id":"https://openalex.org/keywords/alarm","display_name":"ALARM","score":0.6177265644073486},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6090594530105591},{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.5989691019058228},{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.5525677800178528},{"id":"https://openalex.org/keywords/accommodation","display_name":"Accommodation","score":0.5431846380233765},{"id":"https://openalex.org/keywords/false-alarm","display_name":"False alarm","score":0.5317857265472412},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.45433881878852844},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.43570807576179504},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36636126041412354},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.34604519605636597},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2682003378868103},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21152272820472717},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06689333915710449}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7321202158927917},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6899314522743225},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6431294679641724},{"id":"https://openalex.org/C152124472","wikidata":"https://www.wikidata.org/wiki/Q1204361","display_name":"Redundancy (engineering)","level":2,"score":0.627460241317749},{"id":"https://openalex.org/C2779119184","wikidata":"https://www.wikidata.org/wiki/Q294350","display_name":"ALARM","level":2,"score":0.6177265644073486},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6090594530105591},{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.5989691019058228},{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.5525677800178528},{"id":"https://openalex.org/C157660682","wikidata":"https://www.wikidata.org/wiki/Q419793","display_name":"Accommodation","level":2,"score":0.5431846380233765},{"id":"https://openalex.org/C2776836416","wikidata":"https://www.wikidata.org/wiki/Q1364844","display_name":"False alarm","level":2,"score":0.5317857265472412},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.45433881878852844},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.43570807576179504},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36636126041412354},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.34604519605636597},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2682003378868103},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21152272820472717},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06689333915710449},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2010.5716956","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2010.5716956","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"49th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:lra.le.ac.uk:2381/20506","is_oa":false,"landing_page_url":"http://hdl.handle.net/2381/20506","pdf_url":null,"source":{"id":"https://openalex.org/S4306402365","display_name":"Leicester Research Archive (University of Leicester)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I153648349","host_organization_name":"University of Leicester","host_organization_lineage":["https://openalex.org/I153648349"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Scopus","raw_type":"Journal Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321672","display_name":"Else Kr\u00f6ner-Fresenius-Stiftung","ror":"https://ror.org/03zcxha54"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1579424694","https://openalex.org/W1587462386","https://openalex.org/W1969086509","https://openalex.org/W2010922160","https://openalex.org/W2033656061","https://openalex.org/W2060243583","https://openalex.org/W2085756368","https://openalex.org/W2088382530","https://openalex.org/W2103496339","https://openalex.org/W2105934661","https://openalex.org/W2109442281","https://openalex.org/W2110710005","https://openalex.org/W2112465475","https://openalex.org/W2137983211","https://openalex.org/W2141652754","https://openalex.org/W2143600961","https://openalex.org/W2149903238","https://openalex.org/W3016738870","https://openalex.org/W3146803896","https://openalex.org/W6634871237"],"related_works":["https://openalex.org/W61434238","https://openalex.org/W4248007958","https://openalex.org/W1973833648","https://openalex.org/W2965932060","https://openalex.org/W2498980263","https://openalex.org/W2016762717","https://openalex.org/W4384575630","https://openalex.org/W4316511168","https://openalex.org/W4386471499","https://openalex.org/W4379535633"],"abstract_inverted_index":{"In":[0,74],"this":[1],"paper":[2],"we":[3],"propose":[4],"two":[5],"schemes":[6,53],"for":[7,103,144],"sensor":[8,65],"fault":[9,50],"detection":[10],"and":[11,21,46,83,116,137],"accommodation":[12],"(SFDA);":[13],"one":[14],"based":[15],"on":[16,56,105],"a":[17,89,106],"neural":[18],"network":[19],"(NN)":[20],"the":[22,79,84,122,126],"other":[23],"an":[24,57,75,138],"extended":[25],"Kalman":[26],"filter":[27],"(EKF).":[28],"The":[29,52],"objective":[30],"is":[31,97,101],"to":[32,42,48,77],"compare":[33],"both":[34],"approaches":[35],"in":[36,95],"terms":[37],"of":[38,86,142],"execution":[39],"time,":[40],"robustness":[41],"poorly":[43],"modelled":[44],"dynamics":[45],"sensitivity":[47],"different":[49,146],"types.":[51],"are":[54],"tested":[55],"unmanned":[58],"air":[59],"vehicle":[60],"(UAV)":[61],"application":[62],"where":[63],"traditional":[64],"redundancy":[66],"methods":[67],"can":[68],"be":[69],"too":[70],"heavy":[71],"and/or":[72],"costly.":[73],"attempt":[76],"reduce":[78],"false":[80,135],"alarm":[81],"rates":[82],"number":[85],"undetected":[87],"faults,":[88],"modified":[90],"residual":[91],"generator,":[92],"originally":[93],"proposed":[94],"[11],":[96],"implemented.":[98],"Simulation":[99],"work":[100],"presented":[102],"use":[104],"UAV":[107],"demonstrator":[108],"under":[109],"construction":[110],"with":[111,129],"support":[112],"from":[113],"BAE":[114],"Systems":[115],"EPSRC.":[117],"Results":[118],"have":[119],"shown":[120],"that":[121],"NN-SFDA":[123],"scheme":[124,128],"outperforms":[125],"EKF-SFDA":[127],"only":[130],"1":[131],"missed":[132],"fault,":[133],"zero":[134],"alarms":[136],"average":[139],"estimation":[140],"error":[141],"0.31deg/s":[143],"112":[145],"test":[147],"conditions.":[148]},"counts_by_year":[{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2018,"cited_by_count":3},{"year":2017,"cited_by_count":1},{"year":2014,"cited_by_count":1},{"year":2013,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2016-06-24T00:00:00"}
