Abstract
With the development of UAV technology, the composition of UAVs has become increasingly complex, interconnected, and tightly coupled. Fault features are characterized by weakness, nonlinearity, coupling, and uncertainty. A promising approach is the use of deep learning methods, which can effectively extract useful diagnostic information from weak, coupled, nonlinear data from inputs with background noise. However, due to the diversity of flight environments and missions, the distribution of the obtained sample data varies. The types of fault data and corresponding labels under different conditions are unknown, and it is time-consuming and expensive to label sample data. These challenges reduce the performance of traditional deep learning models in anomaly detection. To overcome these challenges, a novel weighted-transfer domain-adaptation network (WTDAN) method is introduced to realize the online anomaly detection and fault diagnosis of UAV electromagnetic-sensitive flight data. The method is based on unsupervised transfer learning, which can transfer the knowledge learnt from existing datasets to solve problems in the target domain. The method contains three novel multiscale modules: a feature extractor, used to extract multidimensional features from the input; a domain discriminator, used to improve the imbalance of the data distribution between the source domain and the target domain; and a label classifier, used to classify data categories for the target domain. Multilayer domain adaptation is used to reduce the distance between the source domain datasets and the target domain datasets distributions. The WTDAN assigns different weights to the source domain samples in order to weight the different contributions of source samples to solve the problem during the training process. The dataset adopts not only open datasets from the website but also test datasets from experiments to evaluate the transferability of the proposed WTDAN model. The experimental results show that, under the condition of fewer anomalous target data samples, the proposed method had a classification accuracy of up to 90%, which is higher than that of the other compared methods, and performed with superior transferability on the cross-domain datasets. The capability of fault diagnosis can provide a novel method for online anomaly detection and the prognostics and health management (PHM) of UAVs, which, in turn, would improve the reliability, repairability, and safety of UAV systems.