Quad-rotor roll angle and pitch angle fault tolerance estimation method based on torque model assistance

Abstract

The invention discloses a quad-rotor roll angle and pitch angle fault tolerance estimation method based on the torque model assistance. The steps are: periodically reading quadrotor aircraft on-boardsensor information at the time k, performing a fault detection filter and the fault location strategy, and judging x axis gyro, y axis gyro, roll moment model, pitch moment model fault; determining the state equation of each sub-filter according to the fault location result, and performing data fusion of each sub-filter; performing global filter according to the fault detection result, separatingfault of each sub-filter, carrying out data fusion of the fault-free sub-filter, and obtaining x axis angular velocity, y axis angular velocity, roll angle, and pitch angle information; resetting andupdating according to the global filter result, and performing a system reset strategy. The method forms the redundancy of the x and y axis gyros through the dynamic model of the quadrotor, realizes the fault detection and system reset of the x and y axis gyros, and still obtains the accurate estimate of the attitude angle and the heading angle when the gyros are faulty.

Description

technical field [0001] The invention belongs to the field of integrated navigation and fault-tolerant navigation, in particular to a fault-tolerant navigation method based on a four-rotor roll angle and pitch angle fault-tolerant estimation method assisted by a moment model. Background technique [0002] Quadrotor aircraft has the advantages of small size, simple structure, hovering and vertical take-off and landing, and is especially suitable for performing tasks such as surveillance and reconnaissance in near-ground environments (such as indoors, urban areas and jungles, etc.), and has broad military and civilian prospects. . The navigation system provides the navigation information necessary for the flight control system of the quadrotor aircraft, which is the necessary guarantee for it to complete various complex flight tasks. [0003] At present, commonly used sensors for quadrotor aircraft include inertial sensors, GNSS (satellite navigation system), magnetic sensors,...

AI Technical Summary

Problems solved by technology

Limited by cost and volume, the inertial sensors used in quadrotor aircraft have low accuracy and reliability, and are susceptible to performance degradation or even failure due to external temperature and vibration interference.

At this time, the accuracy of the navigation system will decrease, which will affect flight safety.

At present, there is no navigation method for quadrotor aircraft in the case of inertial sensor failure

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