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Lift model-assisted four-rotor aircraft height fault-tolerant estimation method

A quadrotor aircraft, height direction technology, applied in the field of fault-tolerant navigation, to achieve the effect of improving robustness

Active Publication Date: 2018-06-15
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The existing fault detection methods usually use the inertial navigation system as a reference system, assuming that there is no fault. However, the MEMS inertial device of the micro aircraft is not completely reliable, and the fault of the inertial sensor and the fault of the measurement sensor need to be considered at the same time.

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  • Lift model-assisted four-rotor aircraft height fault-tolerant estimation method
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  • Lift model-assisted four-rotor aircraft height fault-tolerant estimation method

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Embodiment Construction

[0017] The technical solutions of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0018] The present invention proposes a fault-tolerant estimation method for the height of a quadrotor aircraft assisted by a lift model. By using the lift model of the quadrotor aircraft and combining it with an onboard sensor (altimeter), the height estimation of the quadrotor aircraft is provided to form the height of the quadrotor aircraft. The redundancy of the direction sensor, so as to realize the fault diagnosis of the quadrotor aircraft sensor, the altitude direction sensor includes the inertial sensor and the measurement sensor, such as figure 1 , figure 2 , image 3 shown.

[0019] Step 1: Obtain the lift coefficient of the quadrotor lift model through flight experiments

[0020] Lift model for a quadrotor:

[0021]

[0022] In the above formula, f bz is the z-axis acceleration under the machine system, is the lift c...

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Abstract

The invention discloses a lift model-assisted four-rotor aircraft height fault-tolerant estimation method. The method comprises 1, acquiring a lift coefficient of a four-rotor aircraft lift model through a flight experiment, 2, carrying out navigation filtering through two federated Kalman filters in parallel, 3, detecting faults of a four-rotor aircraft height sensor in a navigation filtering process through a fault detection strategy and 4, if the fault of the four-rotor aircraft height sensor is detected, carrying out fault isolation and recovery of the sensor with fault and eliminating thenavigation information of the fault sensor. Through combination of the four-rotor aircraft lift model and airborne sensor, the redundancy of the four-rotor aircraft height sensor is formed, the faultdiagnosis and fault tolerance of the height sensor are realized and the robustness of the navigation system is improved.

Description

technical field [0001] The invention belongs to the technical field of fault-tolerant navigation, and in particular relates to a method for estimating a height fault-tolerant quadrotor aircraft assisted by a lift force model. Background technique [0002] In recent years, quadrotor drones have been widely used not only in the field of aerial photography, but also in some professional fields, such as precision agriculture, urban monitoring, ecology, etc. Altitude information is essential for quadrotors to perform different tasks, such as hovering, vertical take-off and landing, and some surveillance and detection tasks. However, a faulty altitude measurement sensor may cause the quadcopter to crash. Furthermore, in order to provide trustworthy height measurements, it is also important to introduce fault-tolerant strategies. [0003] Altitude estimation usually requires the fusion of two types of sensor information, one is the accelerometer, which provides altitude predictio...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C5/00G01C5/06G01C21/16G01C25/00
CPCG01C5/005G01C5/06G01C21/165G01C25/00
Inventor 刘士超吕品赖际舟包胜白师宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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