机械与电子2024，Vol.42Issue(1)：47-52,6.
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
摘要
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分类
航空航天引用本文复制引用
桑可可,祖家奎,叶晓宇,刘世龙..无人机多源冗余传感器容错估计算法研究[J].机械与电子,2024,42(1):47-52,6.基金项目
国家重点研发计划资助项目(2022YFC3090500) （2022YFC3090500）
