Actuator monitoring system using inertial sensors
First Claim
Patent Images
1. A system, comprising:
- an interface configured to receive sensor data from an inertial measurement unit on a vehicle, wherein the vehicle includes a first rotor and a second rotor, both of which rotate about a vertical axis of rotation; and
a processor configured to;
determine an observed attitude and an observed rate of change in attitude of the vehicle based on the sensor data;
obtain a set of models of vehicle failure modes, wherein the set of models include;
(1) a first model associated with a failure of the first rotor and (2) a second model associated with a failure of the second rotor;
determine a first expected attitude and a first expected rate of change in attitude of the vehicle based at least in part on the first model associated with a failure of the first rotor;
determine a second expected attitude and a second expected rate of change in attitude of the vehicle based at least in part on the second model associated with a failure of the second rotor;
identify a set of one or more malfunctioning rotors based on the observed attitude, the observed rate of change in attitude, the first expected attitude, the first expected rate of change in attitude, the second expected attitude, and the second expected rate of change in attitude; and
perform a responsive action based on the set of one or more malfunctioning rotors.
7 Assignments
0 Petitions
Accused Products
Abstract
An actuator monitoring and response system is disclosed. Sensor data is received from an inertial measurement unit on a vehicle. An observed attitude and an observed rate of change in attitude of the vehicle is determined based on the sensor data, determine an expected attitude and an expected rate of change in attitude of the vehicle based on a model of a vehicle failure mode, identify a set of one or more malfunctioning actuators based on the observed attitude, the observed rate of change in attitude, the expected attitude, and the expected rate of change in attitude. The processor is further configured to perform a responsive action based on the set of one or more malfunctioning actuators.
18 Citations
18 Claims
-
1. A system, comprising:
-
an interface configured to receive sensor data from an inertial measurement unit on a vehicle, wherein the vehicle includes a first rotor and a second rotor, both of which rotate about a vertical axis of rotation; and a processor configured to; determine an observed attitude and an observed rate of change in attitude of the vehicle based on the sensor data; obtain a set of models of vehicle failure modes, wherein the set of models include;
(1) a first model associated with a failure of the first rotor and (2) a second model associated with a failure of the second rotor;determine a first expected attitude and a first expected rate of change in attitude of the vehicle based at least in part on the first model associated with a failure of the first rotor; determine a second expected attitude and a second expected rate of change in attitude of the vehicle based at least in part on the second model associated with a failure of the second rotor; identify a set of one or more malfunctioning rotors based on the observed attitude, the observed rate of change in attitude, the first expected attitude, the first expected rate of change in attitude, the second expected attitude, and the second expected rate of change in attitude; and perform a responsive action based on the set of one or more malfunctioning rotors. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 16)
-
-
15. The claim of system 14, wherein the test commands are sent in succession.
-
17. A method, comprising:
-
receiving sensor data from an inertial measurement unit on a vehicle, wherein the vehicle includes a first rotor and a second rotor, both of which rotate about a vertical axis of rotation; determining an observed attitude and an observed rate of change in attitude of the vehicle based on the sensor data; obtaining a set of models of vehicle failure modes, wherein the set of models include;
(1) a first model associated with a failure of the first rotor and (2) a second model associated with a failure of the second rotor;determining a first expected attitude and a first expected rate of change in attitude of the vehicle based at least in part on the first model associated with a failure of the first rotor; determining a second expected attitude and a second expected rate of change in attitude of the vehicle based at least in part on the second model associated with a failure of the second rotor; identifying a set of one or more malfunctioning rotors based on the observed attitude, the observed rate of change in attitude, the first expected attitude, the first expected rate of change in attitude, the second expected attitude, and the second expected rate of change in attitude; and performing a responsive action based on the set of one or more malfunctioning rotors.
-
-
18. A computer program product, the computer program product being embodied in a non-transitory computer readable storage medium and comprising computer instructions for:
-
receiving sensor data from an inertial measurement unit on a vehicle, wherein the vehicle includes a first rotor and a second rotor, both of which rotate about a vertical axis of rotation; determining an observed attitude and an observed rate of change in attitude of the vehicle based on the sensor data; obtaining a set of models of vehicle failure modes, wherein the set of models include;
(1) a first model associated with a failure of the first rotor and (2) a second model associated with a failure of the second rotor;determining a first expected attitude and a first expected rate of change in attitude of the vehicle based at least in part on the first model associated with a failure of the first rotor; determining a second expected attitude and a second expected rate of change in attitude of the vehicle based at least in part on the second model associated with a failure of the second rotor; identifying a set of one or more malfunctioning rotors based on the observed attitude, the observed rate of change in attitude, the first expected attitude, the first expected rate of change in attitude, the second expected attitude, and the second expected rate of change in attitude; and performing a responsive action based on the set of one or more malfunctioning rotors.
-
Specification