Unmanned Aerial Vehicle Fault Diagnosis Based on Ensemble Deep Learning Model

Abstract To address the problems of external interference during unmanned aerial vehicle (UAV) flight and the low accuracy and weak generalization ability of the current single fault diagnosis model, this work proposes a weighted ensemble deep learning UAV fault diagnosis method. First, considering the differences in training methods and fault feature recognition principles of deep networks with different structures, three hybrid fault diagnosis models are constructed. These models are constructed by combining convolutional neural network (CNN), bidirectional long short-term memory (BiLSTM) and bidirectional gate recurrent unit (BiGRU). CNN is used to extract the features of the UAV flight data and the obtained feature information is fed into BiLSTM and BiGRU to explore the fault information inherent in the time series data. Then, the three hybrid fault diagnosis models are used as the individual model of the ensemble learning algorithm, and the weights of the three individual models are optimized using a random grid search algorithm to construct a UAV fault diagnosis model based on hybrid deep learning weighted ensemble, which further improves the fault diagnosis performance. Finally, it is demonstrated experimentally that the proposed hybrid deep learning weighted ensemble fault diagnosis model can effectively identify the fault of UAV with an accuracy of 99.22% and 99.62% on binary and multivariate classification, respectively, and reflects better generalization performance in the metrics of precision, recall, and F1 score.