A Fault Diagnosis Method for UAV Horizontal Attitude Angle

Abstract

The invention relates to a fault diagnosis method for the horizontal attitude angle of an unmanned aerial vehicle, which obtains two sets of unmanned aerial vehicle horizontal attitude angle sensor information from the horizontal attitude angle hardware double redundant sensor, and combines the information of the two sets of sensors to generate a four-way gyroscope The combination information of the accelerometer and the accelerometer; through the data fusion algorithm, the four-way combined information is respectively resolved into the four-degree redundant horizontal attitude angle information; through the motion overrun judgment and redundancy voting, the information diagnosis of the four-redundant horizontal attitude angle is carried out , according to the diagnosis results of the four-degree redundant horizontal attitude angle information, the fault diagnosis of the horizontal attitude angle sensor is carried out. The present invention can complete the voting fault diagnosis mechanism that can only be carried out by existing redundant hardware redundancy, effectively diagnose a wider range of sensor faults, simplify the system hardware structure, reduce the requirements for installation space and load capacity, reduce system costs, and improve flight performance. control system reliability.

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...

AI Technical Summary

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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