Fault reconstruction method for simple redundancy flight control system of long-endurance unmanned aerial vehicle

Abstract

The invention discloses a fault reconstruction method for a simple redundancy flight control system of a long-endurance unmanned aerial vehicle. The redundancy is formed for the measurement of key navigation information by using two devices of main and backup sensors on the basis of the non-similarity principle, and two redundancies are guaranteed on an execution mechanism, so that the simple redundancy flight control system is formed. A comparison is made between information of the main sensor and the information of the backup sensor; when the times of the deviation of the information of the main and backup sensors greater than the threshold in unit time are more frequency, one sensor is broken down; the fusion is implemented through other normal navigation information for locating the broken device; and when one execution mechanism is broken down, the influence of the broken mechanism is complemented through the rest normal execution mechanisms to guarantee the flight safety.

Description

technical field [0001] Design of long-endurance UAV flight control system. Background technique [0002] The flight control subsystem is at the core of the entire UAV system, and it determines the flight safety of the UAV to a large extent. For unmanned aerial vehicles, flight safety is a key issue that needs to be given priority in system design, especially for long-endurance unmanned aerial vehicles, the necessity of this issue is evident. Usually, flight safety is guaranteed by increasing the redundancy of the flight control system, but this needs to be at the expense of precious weight. In addition, the increase of redundancy will greatly increase the complexity of the flight control system. [0003] The above contradictions can be resolved by building a simple redundant flight control system, that is, forming non-similar redundant backups on the key information in the sensor subsystem, and the backup sensor can provide available status information in the event of a fai...

AI Technical Summary

Problems solved by technology

[0004] The technical problem solved by the present invention: In order to overcome the problem that the simple redundant flight control system is difficult to perform fault identification, fault location and fault reconstruction, a fault reconstruction method for the simple redundant flight control system of the long-endurance UAV is provided, This method can safely fly the UAV in the absence of a certain key main navigation information or the failure of a certain actuator.

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