Fault detection and isolation method for integrated navigation system of unmanned aerial vehicle

An integrated navigation system and fault detection technology, applied in the field of unmanned aerial vehicles, can solve the problems of increased calculation amount, poor real-time performance, and poor practicability, and achieve the effect of small calculation amount and high reliability

Pending Publication Date: 2020-11-20
西安因诺航空科技有限公司
View PDF6 Cites 3 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] At present, the fault detection and isolation methods commonly used in UAV integrated navigation systems include: direct comparison method, wavelet transform method, state estimation method, neural network method and expert system method, etc., but the above methods are deficient in engineering applications. The comparison method will increase the amount of calculation and the detection effect will drop sharply with the increase of the number of devices in the redundant inertial group; the wavelet change method has a large amount of calculation and poor real-ti

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Fault detection and isolation method for integrated navigation system of unmanned aerial vehicle
  • Fault detection and isolation method for integrated navigation system of unmanned aerial vehicle
  • Fault detection and isolation method for integrated navigation system of unmanned aerial vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0037] The redundant strapdown inertial unit can be composed of two or more independent three-axis IMUs that are perpendicular to each other. The following two IMUs are used as an example to illustrate. The installation method is as follows: figure 1 shown, from figure 1 It can be seen that the IMU numbered a is installed coaxially with the UAV body coordinate system, and the IMU numbered b is installed around the Z axis of the UAV system with a positive rotation α angle. Since the Z axes of the two IMUs point to the same direction, it is not correct Fault detection is performed for the gyroscope and accumulator of the Z-axis, and fault detection is performed only for the gyro and accumulator of the X-axis and Y-axis.

[0038] The flow chart of fault detection and isolation of redundant strapdown inertial groups is as follows: figure 2 shown by figure 2 It can be seen that the fault detection process of the gyro and accumulator is the same. The following uses the gyro as a...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

No PUM Login to view more

Abstract

The invention discloses a fault detection and isolation method for an integrated navigation system of an unmanned aerial vehicle, which comprises the following steps of performing fault detection andisolation according to original data output by an IMU (Inertial Measurement Unit), and performing fault detection and isolation on each piece of measurement information to ensure high reliability of the integrated navigation system of the unmanned aerial vehicle. According to the method, the calculated amount is small, IMU faults and measurement faults can be detected in real time, sensors with faults are isolated, and the number of IMUs installed in a non-coaxial mode is not limited. According to the method, the IMU unit data source is directly detected, IMU faults can be prevented from beinginjected into the filter, it is guaranteed that the filter is not polluted by the faults, fault detection and isolation are carried out on each measurement, and the method is suitable for fault detection and isolation of various sensors with different rates.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicles, and in particular relates to a fault detection and isolation method for an integrated navigation system of an unmanned aerial vehicle. Background technique [0002] At present, the development of drone technology is advancing by leaps and bounds, and the application fields based on drones are becoming more and more extensive. It has been widely used in military reconnaissance, battlefield surveillance, fire detection, environment and traffic monitoring. The surrounding environment of the UAV is complex and changeable during the execution of the mission, and all kinds of sensors may have short-term failures. In order to ensure the high reliability of the UAV integrated navigation system and the smooth execution of the mission, sensor hardware redundancy can be designed. It is very important to make good use of redundant sensor information, and to detect and isolate sensor faults in real ti...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): G01C25/00
CPCG01C25/005
Inventor 陈朋印
Owner 西安因诺航空科技有限公司
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap