**9. References**


the method based on wavelet transform is a promising alternative to other approaches to the fault detection system for RUAV system. With the wavelet-based scheme, the RUAV sensor fault detection system can detect the failure locations of abrupt signal effectively. In order to overcome the drawbacks of the low-pass filter, the thresholding denoising method base on wavelet transformation is used to reduce the short-term measured noise of the MEMS gyroscope. The article compared different wavelet functions and level of decompositions, and found the effective filter parameters. Using db6 wavelet function at level 5, the denoised signal is suitable for integrated navigation system and flight control system. This will improve the calculation precision of angle rotation matrix, and the high frequency noise will

In the Further, further flight tests are needed to verify the actual performance of waveletbased denoising method and wavelet-based fault detection in ServoHeli-40's integrated

This work was partially supported by the National Natural Science Foundation of China, "A novel method about the flight control for flying-robot, based on the characteristics of human's brain decision" (No.61005086). And the authors gratefully acknowledge the contribution of Shenyang Institute of Automation, Chinese Academy of Sciences and

Burrus C. Sidney, Gopinath Ramesh A, Guo Haitao. (1998). *Introduction to Wavelets and Wavelet Transforms: A Primer.* Prentice Hall, Inc, 0134896009, New Jersey. Daubechies Ingrid. (1988). Orthonormal bases of compactly supported wavelets.

Gao Tongyue, Gong Zhenbang, Luo Jun, Ding wei, Feng wei. (2006). An Attitude

Guo Jiang-chang, Teng Jian-fu, Zhang Ya-qi. (2003). The denosing of gyro signals by bi-

Imola. K. Fodor, Chandrika Kamath, Rika Kamath. (2001). Denoising through wavelet

Isermann Rolf. (1984). Process fault detection based on modeling and estimation methods—

*Communications on Pure Applied Mathematics*, Vol.41, No.7, (October 1988), pp.(909–

Determination System For A Small Unmanned Helicopter Using Low-Cost Sensors. *Proceedings of the 2006 IEEE International Conference on Robotics and Biomimetics, 1-*

orthogonal wavelet transform. *IEEE Canadian Conference on Electrical and Computer* 

shrinkage: An empirical study. *J. Electron. Imaging*, Vol. 12, No.1,(2003), pp. (151–

A survey. *Automatica*, Vol.20, No.4, (1984), pp. (387–404), 10.1016/0005-

be decrease.

navigation system.

**8. Acknowledgments** 

reviewers' comments.

996), 10.1002/cpa.3160410705.

160), 10.1117/1.1525793.

1098(84)90098-0

*4244-0570-X*, Kuming China, December 2006.

*Engineering*, 0-7803-7781-8, Montreal, Canadian, May 2003.

**9. References** 


Zhang Jianqiu, Yan Yong. (2001). A wavelet-based approach to abrupt fault detection and diagnosis of sensors. *IEEE Transaction on Instrumentation and Measurement*, Vol. 50, No.5, (October 2001), pp.(1389–1396), 0018-9456.

Zhang Jianqiu, Yan Yong. (2001). A wavelet-based approach to abrupt fault detection and

No.5, (October 2001), pp.(1389–1396), 0018-9456.

diagnosis of sensors. *IEEE Transaction on Instrumentation and Measurement*, Vol. 50,
