Fault Detection and Identification in the Doubled Attitude and Heading Reference System (AHRS).

This article presents a diagnostic system for two redundant AHRS units. The proposed system enables fault detection and identification, facilitating the design of more efficient flight control systems, particularly in low-cost applications. First, the principles of AHRS operation are first introduced, followed by a detailed description of the diagnostic system and the demonstration of the system's properties. Simulation results presented in this article confirm the system's effectiveness in fault detection and identification. The proposed solution can be applied in aeronautical control systems, particularly in UAV applications.