Low-sample supervised fault diagnosis for fixed-wing UAVs based on multi-scale adaptive state-aware sequence learning

With the rapid development of smart agriculture and plant protection applications, unmanned aerial vehicles (UAVs) systems that integrate various advanced technologies have become increasingly important for enhancing agricultural production efficiency and reducing operational costs. In order to ensure the safe and stable operation of UAVs, fault diagnosis and reliability evaluation research are very important. Existing fault detection methods often have the problems of unsatisfactory accuracy in low-sample conditions, low computing efficiency and insufficient extraction of temporal characteristics, which limits their reliability and practical applicability. The challenge is further compounded by the scarcity of labeled fault data in real-world applications, underscoring the critical need for low-sample learning methods. To address these issues, this research proposes a multi-scale adaptive state-aware sequence learning framework. The framework adopts a Mamba-enhanced multi-scale temporal network (Mamba-MSTN), which integrates the Multi-Scale Temporal Feature Extraction (MSTFE) module, the adaptive state perception and screening module based on the selection state space model Mamba, and the global dependency modeling module based on Multi-Head Self-Attention (MHSA). Specifically, the MSTFE module hybridizes a 1D Residual Convolutional Neural Network (1D-RCNN) with Bidirectional Gated Recurrent Units (BiGRU) for jointly capturing transient details and long-term trends in flight data, thereby enabling effective multi-granularity temporal feature extraction. Mamba is introduced as an adaptive state perception and screening module. The module adopts an input-dependent state conversion mechanism to dynamically model flight timeseries data in a content-aware way, so as to realize key information filtering. The MHSA mechanism enhances the global dependency representation through parallel multi-subspace modeling adaptive attention to key segments, thus making up for the limitations of local modeling. Comprehensive experiments prove that the proposed method shows high sensitivity and robust generalization in binary and multi-class low-sample fault diagnosis tasks. It is superior to the current mainstream method in terms of accuracy, processing efficiency and resource consumption, and has strong practical application potential.