Experimental networked embedded mini drone - Part I. Consideration of faults

This paper deals with a networked embedded system. The studied prototype is a 4 rotors mini-drone (helicopter) equipped with an attitude central for system positioning, made of 3 rate gyros, 3 accelerometers and 3 magnetometers. A mathematical model of the drone has been integrated within an observer (for attitude estimation) and a control law is implemented for flight control, thus forming a closed loop system. Its fault free behavior is used as a reference for further analyses. Several possible network technologies are compared. The influence of several types of faults is simulated, including sensor, actuator or network induced faults.