Distributed speed sensor fault diagnosis method for unmanned aerial vehicle formation with time delay

Abstract

The invention discloses a distributed speed sensor fault diagnosis method for an unmanned aerial vehicle formation system with communication time delay, which belongs to the field of unmanned aerial vehicle formation systems. The method comprises steps: communication topological parameters are calculated; based on the communication topological parameters, a given trajectory, a formation vector and a preset condition, a distributed formation control law is obtained; based on a formation system closed loop model and measurement on a relative state between each unmanned aerial vehicle and a neighbor unmanned aerial vehicle, a distributed fault detection residual generator and a corresponding residual evaluation function are obtained; a group of distributed fault separation residual generators and a corresponding residual evaluation function are further obtained; based on an open loop model of the unmanned aerial vehicle, a decentralized fault separation residual generator and a corresponding residual evaluation function are obtained; and based on the residual evaluation functions and corresponding thresholds, fault detection and separation are carried out. Under fixed-duration time delay interference on communication between the unmanned aerial vehicles, the method can still realize detection and separation on self fault of each unmanned aerial vehicle and fault of the neighbor unmanned aerial vehicle.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle formation systems, and in particular relates to a fault diagnosis method for distributed speed sensors of unmanned aerial vehicle formations with communication time delay. Background technique [0002] In recent years, the UAV formation system has received more and more attention in the fields of forest fire prevention, map surveying and personnel search and rescue. The UAV formation system can achieve functions that cannot be achieved by a single UAV or have excellent performance that a single UAV cannot have through the coordination between UAVs. Due to the communication connection between UAVs, the failure of a single UAV will cause the formation of the entire formation system to fail to maintain, which will affect the function and performance of the formation system, and even cause collision accidents. The fault diagnosis of the formation system is an important technology to ensure the ...

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Problems solved by technology

[0005] Aiming at the fact that the current distributed fault diagnosis method of the UAV formation system cannot be applied to the situation that the formation has a communication delay, the present invention provides a distributed speed sensor fault diagnosis method for the UAV formation system with a fixed-length communication delay. diagnosis method

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