A time-delay UAV formation distributed speed sensor fault diagnosis method

Abstract

The invention discloses a distributed velocity 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, including calculating communication topology parameters; based on communication topology parameters, given trajectory, formation vector and pre-set conditions to obtain the distributed formation control law; based on the closed-loop model of the formation system and the relative state measurement of each UAV and its neighbors, the distributed fault detection residual generator and the corresponding residual evaluation function are obtained; further obtained A set of distributed fault separation residual generators and corresponding residual evaluation functions; based on the open-loop model of the UAV, a distributed fault separation residual generator and corresponding residual evaluation functions are obtained; based on the residual evaluation functions and The corresponding threshold is used for fault detection and isolation. Even when the communication between UAVs is interfered with by a fixed time delay, this method can still enable each UAV to detect and separate its own faults and the faults of neighboring UAVs.

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 ...

AI Technical Summary

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

Images