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Fault diagnosis method for horizontal attitude angle of unmanned aerial vehicle
Authors
何玉庆
周浩
孙晓舒
常彦春
Publication date
30 June 2020
Publisher
Abstract
本发明涉及一种无人机水平姿态角的故障诊断方法,获取来自水平姿态角硬件双冗余传感器的两组无人机水平姿态角传感器信息,将两组传感器信息交叉组合,生成四路陀螺仪和加速度计的组合信息;通过数据融合算法将四路组合信息分别解算为四余度水平姿态角信息;通过运动超限判断和多余度投票表决,进行四余度水平姿态角的信息诊断,根据四余度水平姿态角信息诊断结果,进行水平姿态角传感器的故障诊断。本发明可以完成现行多余度硬件冗余才可进行的投票表决故障诊断机制,有效诊断更广泛的传感器故障,简化系统硬件结构,减少对安装空间和载重能力的要求,降低系统成本,提高了飞行控制系统的可靠性
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Last time updated on 30/04/2021