Implementation of real-time moving horizon estimation for robust air data sensor fault diagnosis in the RECONFIGURE benchmark*

This paper presents robust fault diagnosis and estimation for the calibrated airspeed and angle-of-attack sensor faults in the RECONFIGURE benchmark. We adopt a low-order longitudinal model augmented with wind dynamics. In order to enhance sensitivity to faults in the presence of winds, we propose a constrained residual generator by formulating a constrained moving horizon estimation problem and exploiting the bounds of winds. The moving horizon estimation problem requires solving a nonlinear program in real time, which is challenging for flight control computers. This challenge is addressed by adopting an efficient structure-exploiting algorithm within a real-time iteration scheme. Specific approximations and simplifications are performed to enable the implementation of the algorithm using the Airbus graphical symbol library for industrial validation and verification. The simulation tests on the RECONFIGURE benchmark over different flight points and maneuvers show the efficacy of the proposed approach.