无人机多源冗余传感器容错估计算法研究
Research on Fault-tolerant Estimation Algorithm for Multi-source Redundant Sensors of UAV
桑可可 1祖家奎 1叶晓宇 1刘世龙1
作者信息
- 1. 南京航空航天大学自动化学院,江苏南京 211106
- 折叠
摘要
在无人机应用中,单余度传感器系统在定位导航精度、多任务处理与决策能力以及系统的鲁棒性和可靠性等方面有待进一步提升和改善.鉴于此,设计三余度传感器的冗余配置,对相应的余度系统采用非相似的滤波算法,提出一种多源冗余传感器容错估计算法对系统软/硬故障进行检测与隔离,通过加权平均投票计算出余度系统的权重因子进而有效地隔离故障系统,保证系统姿态信息的精度和可靠性.试验结果表明,该方法能够实现余度系统的软/硬故障的检测、识别与隔离,具有较好的实时性.
Abstract
In UAV applications,the single-redundancy sensor system needs to be further improved in terms of positioning and navigation accuracy,multi-task processing and decision-making capabilities,and system robustness and reliability.In view of this,this paper designs the redundant configuration of the three-redundancy sensor,and adopts the non-similar filtering algorithm for the corresponding redundan-cy system.A multi-source redundant sensor fault-tolerant estimation algorithm is proposed to detect and isolate the soft/hard faults of the system.The weighted average voting is used to calculate the weight fac-tor of the redundancy system and then effectively isolate the fault system to ensure the accuracy and relia-bility of the system attitude information.The experimental results show that the method can realize the de-tection,identification and isolation of soft/hard faults in the redundancy system,and has good real-time performance.
关键词
传感器/可靠性/多源冗余/姿态信息/实时性Key words
sensor/reliability/multi-source redundancy/attitude information/real-time引用本文复制引用
基金项目
国家重点研发计划(2022YFC3090500)
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据