Fault online evaluation method for unmanned aerial vehicle bee colony collaborative navigation

A technology for collaborative navigation and fault assessment, applied in the field of navigation, which can solve problems such as fault diagnosis, failure to effectively evaluate fault isolation priority order, and diagnosis failure.

Active Publication Date: 2019-08-20
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

The traditional multi-UAV formation fault diagnosis method is mainly based on the perception of external information to build a simple fault identification model, which is likely to cause diagnostic failure or misdiagnosis under the unknown flight environment and fuzzy interference conditions. However, the urgency of faults is not considered, and the priority order of fault isolation cannot be effectively evaluated.

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  • Fault online evaluation method for unmanned aerial vehicle bee colony collaborative navigation
  • Fault online evaluation method for unmanned aerial vehicle bee colony collaborative navigation
  • Fault online evaluation method for unmanned aerial vehicle bee colony collaborative navigation

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Embodiment Construction

[0065] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0066] The present invention provides an online fault assessment method for cooperative navigation of UAV swarms, and performs reverse extrapolation for fault assessment through multi-time series of relative measurement innovations among members, which is a fault-tolerant method for cooperative navigation of UAV swarms Refactoring provides a new method that provides an effective basis for improving the fault tolerance and positioning accuracy of the navigation system, such as figure 1 Shown, the present invention comprises the following steps:

[0067] 1. Set the fault detection threshold Tr; set the time series reverse maximum extrapolation epoch number M; let the current moment k=1; set the number of members in the UAV bee colony as n, number its members and represent it as 1 ,2,...n.

[0068] 2. The i-th (i∈{1,2,…n}) member of the UAV swarm uses the rela...

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Abstract

The invention discloses a fault online evaluation method for unmanned aerial vehicle bee colony collaborative navigation. According to the method, reverse extrapolation is carried out on the multipletime sequences of relative measurement innovation between one member and other members during collaborative navigation, so that fault judgment is carried out; and a fault evaluation value is built comprehensively by means of a cumulative effective extrapolation epoch number and the test statistic quantity of cumulative reverse extrapolation. According to the collaborative navigation fault online evaluation method, the levels and emergency degrees of faults are comprehensively considered; the accurate on-line evaluation of the influence degrees of the faults in a collaborative navigation process can be effectively realized; and an accurate basis can be provided for an unmanned aerial vehicle bee colony collaborative navigation system in achieving fault-tolerant reconstruction.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to an on-line fault assessment method used for unmanned aerial vehicle swarm cooperative navigation. Background technique [0002] UAV swarm is a new concept proposed at home and abroad in recent years, that is, the organization mode of three-dimensional space arrangement and task assignment of multiple UAVs to meet the task requirements. Reorganization, which also includes the organization of missions, can be dynamically adjusted according to external conditions and mission requirements. [0003] Compared with the loose UAV swarm, the cooperative navigation information in the UAV swarm is richer, and the cooperative collaborative information between the UAVs and the relative navigation information sources between the UAV and the ground station are more abundant. In order to improve the survivability of UAV swarm flight, it is necessary to study how to make full use ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C25/00
CPCG01C25/00
Inventor 王融熊智刘建业李荣冰李传意杜君南陈欣赵耀景羿铭孙瑶洁崔雨辰
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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