Altitude measurement control system and control method for unmanned aerial vehicles based on fault-tolerant processing

Abstract

The invention discloses an unmanned-aerial-vehicle height measurement control system based on fault-tolerance processing and a control method. The unmanned-aerial-vehicle height measurement control system comprises a height meter module, a satellite navigation module, an inertial measurement module and a computing and processing module. The height meter module is used for measuring the distance of an unmanned aerial vehicle to the ground in real time; the satellite navigation module is used for receiving and processing satellite signals in real time and measuring the flight position and the direction of the unmanned aerial vehicle; the inertial measurement module is used for measuring the attitude angular velocity and the accelerated velocity of the unmanned aerial vehicle in real time; the computing and processing module is used for receiving data of the height meter module, the satellite navigation module and the inertial measurement module in a parallel mode and computing and obtaining height measurement data. By means of the unmanned-aerial-vehicle height measurement control system based on fault-tolerance processing and the control method thereof, the conditions of the fault of a height meter or the fault of satellite navigation or the faults of a height meter and satellite navigation can be synthetically processed, and the high stability of the unmanned aerial vehicle is guaranteed through the control system to a maximum limit.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle navigation control, in particular to an unmanned aerial vehicle altitude measurement control system and control method based on fault-tolerant processing. Background technique [0002] The absolute altitude (ie altitude) of the unmanned aerial vehicle is an important parameter for the flight of the aircraft, and it is the key parameter that must be controlled when the cruise aircraft is flying. Stable and reliable real-time measurement of the absolute altitude (ie altitude) of the aircraft is the guarantee for determining the stability of the altitude control system of the unmanned aerial vehicle. The devices for measuring the altitude of the aircraft mainly include satellite navigation systems and altimeters. The satellite navigation system can work all-weather in open areas with high accuracy, but it is easy to lose capture and work abnormally when it is blocked. Altimeters generally incl...

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Problems solved by technology

[0005] Usually, the key to fault tolerance is redundancy. Redundancy in the prior art is generally achieved by adding additional hardware resources and additional software to achieve fault detection and fault tolerance. This often increases the cost of equipment and the algorithm is complex, which is reflected in the focus on The data fusion of multiple types of measuring devices is used to improve the measurement accuracy, and each device that makes up the system may fail. Therefore, it is urgent to study the fault-tolerant processing technology for the redundant system of various height measuring devices to ensure the height measurement of unmanned aerial vehicles. Stable operation of the control system

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