Research on Fault-tolerant Estimation Algorithm for Multi-source Redundant Sensors of UAV
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.
国家科技期刊平台
NSTL
万方数据
维普
