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Quad-rotor torque model/directional gyro/magnetic sensor fault-tolerant integrated navigation method

A magnetic sensor and integrated navigation technology, applied in the direction of navigation, navigation, mapping and navigation through speed/acceleration measurement, can solve problems such as affecting flight safety, performance degradation, failure, etc., and achieve the effect of ensuring estimation accuracy

Active Publication Date: 2018-12-11
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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AI Technical Summary

Problems solved by technology

Limited by cost and volume, the inertial sensors used in quadrotor aircraft have low accuracy and reliability, and are susceptible to performance degradation or even failure due to external temperature and vibration interference.
At this time, the accuracy of the navigation system will decrease, which will affect flight safety.
At present, there is no navigation method for quadrotor aircraft in the case of inertial sensor failure

Method used

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  • Quad-rotor torque model/directional gyro/magnetic sensor fault-tolerant integrated navigation method
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  • Quad-rotor torque model/directional gyro/magnetic sensor fault-tolerant integrated navigation method

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Embodiment Construction

[0021] The technical solutions and beneficial effects of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0022] Such as figure 1 As shown, the present invention provides a kind of quadrotor torque model / heading gyroscope / magnetic sensor fault-tolerant combined navigation method, and its fault detection structure is as follows figure 2 As shown, specifically in the form of semi-physical simulation, the quadrotor UAV makes a heading rotation with z-axis angular acceleration, and collects experimental data of airborne sensors, which includes experimental data of inertial sensors, electronic governor data, and GPS data. , Magnetic sensor data. The method comprises the steps of:

[0023] Step 1: Periodically read the onboard sensor information of the quadrotor aircraft at time k, including the information of the rotor speed sensor ω 1 (k), ω 2 (k), ω 3 (k), ω 4 (k), which are the rotational speeds of the four rotors; t...

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Abstract

The invention discloses a quad-rotor torque model / directional gyro / magnetic sensor fault-tolerant integrated navigation method. The method comprises the following steps: periodically reading information of a quad-rotor aircraft airborne sensor at a moment k; executing a fault detecting filter and a fault location strategy, and judging faults of a z-axis gyro, a torque model and a magnetic sensor;determining a state equation of each sub-filter, and performing data fusion; according to a fault detecting result, performing fault isolation; executing a global filter, and performing the data fusion on the sub-filter without the fault, to obtain course angle information; resetting state quantities of each sub-filter and the fault detecting filter, and executing a system reset strategy. The method is capable of, through the torque model of a quad-rotor aircraft, forming redundancy of the z-axis gyro, realizing fault detection of the z-axis gyro, the magnetic sensor and the torque model and the system reset, and acquiring accurate estimation of an attitude angle and a course angle still while the gyro is failure.

Description

technical field [0001] The invention belongs to the field of integrated navigation and fault-tolerant navigation, in particular to a four-rotor torque model / direction gyroscope / magnetic sensor fault-tolerant combined navigation method. Background technique [0002] Quadrotor aircraft has the advantages of small size, simple structure, hovering and vertical take-off and landing, and is especially suitable for performing tasks such as surveillance and reconnaissance in near-ground environments (such as indoors, urban areas and jungles, etc.), and has broad military and civilian prospects. . The navigation system provides the navigation information necessary for the flight control system of the quadrotor aircraft, which is the necessary guarantee for it to complete various complex flight tasks. [0003] At present, commonly used sensors for quadrotor aircraft include inertial sensors, GNSS (satellite navigation system), magnetic sensors, and barometric altimeters, among which ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20G01C21/18
CPCG01C21/165G01C21/18G01C21/20
Inventor 刘士超吕品赖际舟王炳清朱徐东
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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