Fault-tolerant navigation method for inertial sensor of quadrotor based on dynamic model

A quadrotor aircraft and inertial sensor technology, which is applied in the field of fault-tolerant navigation, can solve the problems such as the decline in the accuracy of the navigation system, there is no inertial sensor fault-tolerant navigation solution, failure, etc., to achieve the effect of improving the reliability of navigation

Active Publication Date: 2019-04-12
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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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.
Currently, there is no fault-tolerant navigation solution for inertial sensors

Method used

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  • Fault-tolerant navigation method for inertial sensor of quadrotor based on dynamic model
  • Fault-tolerant navigation method for inertial sensor of quadrotor based on dynamic model
  • Fault-tolerant navigation method for inertial sensor of quadrotor based on dynamic model

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Embodiment Construction

[0018] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0019] Such as figure 1 As shown, a method for fault-tolerant navigation of a quadrotor inertial sensor based on a dynamics model includes the following steps:

[0020] Step 1: Obtain periodically the onboard sensor information of the quadrotor at time k;

[0021] Construct the body coordinate system with the center of gravity position of the carrier at the current moment as the origin, where the X-axis, Y-axis and Z-axis are respectively coincident with the forward, right and ground directions of the carrier at the current moment; the navigation coordinates are constructed with the carrier's position at the initial moment as the origin System, where the X-axis, Y-axis and Z-axis coincide with the north, east and ground dir...

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Abstract

The invention discloses a fault-tolerant navigation method for an inertial sensor of a quadrotor based on a dynamic model. The method comprises the following steps of: step 1: periodically acquiring the information of an onboard sensor of the quadrotor; step 2: calculating an acceleration and an angular acceleration; step 3: predicting an angular velocity, a quaternion, a speed, and a position; step 4: determining a fault result of each detection filter and positioning the fault; Step 5: isolating the information of the fault sensor, and correcting the angular velocity, the quaternion, the speed, and the position by using a federated Kalman filter; Step 6: resetting and updating each detection filter. According to the fault-tolerant navigation method for the inertial sensor of the quadrotor based on the dynamic model, when the inertial sensor fails, the dynamic model replaces the inertial sensor for navigation solution, so that the navigation problem when the inertial sensor fails is solved, and the navigation reliability of the quadrotor is improved.

Description

Technical field [0001] The invention relates to the technical field of fault-tolerant navigation, in particular to a method for fault-tolerant navigation of a quadrotor inertial sensor based on a dynamic model. Background technique [0002] The quadrotor has the advantages of small size, simple structure, hovering, vertical take-off and landing, etc., and is particularly suitable for performing surveillance and reconnaissance tasks in near-ground environments (such as indoors, urban areas, and jungles), and has broad military and civilian prospects . The navigation system provides the navigation information necessary for the flight control system of the quadrotor, which is a necessary guarantee for the completion of various complex flight tasks. [0003] At present, the commonly used sensors for quadrotor aircraft include inertial sensors, GNSS (Satellite Navigation System), magnetic sensors, and barometric altimeters. Inertial sensors include gyroscopes and accelerometers. Limit...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C21/18
CPCG01C21/16G01C21/18Y02T90/00
Inventor 刘士超吕品赖际舟王炳清许晓伟
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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