Fault diagnosis method for horizontal attitude angle of unmanned aerial vehicle

Abstract

The invention relates to a fault diagnosis method for a horizontal attitude angle of an unmanned aerial vehicle, and the method comprises the steps: obtaining two groups of unmanned aerial vehicle horizontal attitude angle sensor information from a horizontal attitude angle hardware dual-redundancy sensor, carrying out the cross combination of the two groups of sensor information, and generating four-path gyroscope and accelerometer combination information; respectively resolving the four paths of combined information into four-redundancy horizontal attitude angle information through a data fusion algorithm; and carrying out information diagnosis on the four-redundancy horizontal attitude angle through motion over-limit judgment and redundancy voting, and carrying out fault diagnosis on the horizontal attitude angle sensor according to a four-redundancy horizontal attitude angle information diagnosis result. According to the method, a voting fault diagnosis mechanism which can be carried out only by existing redundancy hardware redundancy can be completed, wider sensor faults can be effectively diagnosed, the hardware structure of the system is simplified, the requirements for theinstallation space and the loading capacity are reduced, the system cost is reduced, and the reliability of the flight control system is improved.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle flight control systems, in particular to a fault diagnosis method for the horizontal attitude angle of an unmanned aerial vehicle. Background technique [0002] The attitude angle of the UAV is the body state that needs to be paid attention to during the flight, and the horizontal attitude angle (including roll angle and pitch angle) is an important parameter for the stability control of the UAV in the air. Therefore, the key sensor inertial measurement unit of the existing flight control system to measure the attitude angle is equipped with hardware redundancy to improve reliability. The current industrial-grade flight controllers generally have three-level or higher level of hardware redundancy. Through the voting mechanism of redundant hardware, it can effectively monitor the status of sensors and diagnose and locate various faults. However, the system cost of redundant hardware redundan...

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Problems solved by technology

[0003] The current flight controllers of consumer-grade micro-UAVs generally only have dual redundancy of sensor hardware, which can diagnose and isolate serious faults in sensors such as initialization failure, data interruption, and data persistence. Compared with the problem of lack of benchmarks, it is impossible to accurately locate data anomalies caused by incomplete sensor failures

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