Szukana fraza: [Abstract = "This paper considers the problem of attitude sensor fault diagnosis in a quadrotor helicopter. The proposed approach is composed of two stages. The first one is the modelling of the system attitude dynamics taking into account the induced communication constraints. Then a robust fault detection and evaluation scheme is proposed using a post\-filter designed under a particular design objective. This approach is compared with previous results based on the standard Kalman filter and gives better results for sensor fault diagnosis."]

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