Unmanned aerial vehicle remote sensing networking redundancy fault-tolerant control method

Abstract

The invention discloses an unmanned aerial vehicle remote sensing networking redundancy fault-tolerant control method. The method comprises the following steps that 1) an unmanned aerial vehicle flight control ground station obtains real-time latitude and longitude coordinates and height information of flight of each unmanned aerial vehicle in an unmanned aerial vehicle remote sensing network, wherein the unmanned aerial vehicle remote sensing network comprises a pilot unmanned aerial vehicle, N following unmanned aerial vehicles and M following redundant unmanned aerial vehicles, and the pilot unmanned aerial vehicle and the N following unmanned aerial vehicles serve as observation unmanned aerial vehicles; 2) the distance between the observation unmanned aerial vehicles is calculated through the collected latitude and longitude and height information, and if the distance between one observation unmanned aerial vehicle A and one or more adjacent observation unmanned aerial vehicles exceeds a set expected distance, it is judged that the observation unmanned aerial vehicle A has a fault; and 3) a faulted observation unmanned aerial vehicle A is separated from the unmanned aerial vehicle remote sensing network, a following redundant unmanned aerial vehicle a is started to replace the observation unmanned aerial vehicle A, and then the position, the navigational speed and the course of the observation unmanned aerial vehicle A are controlled.

Description

technical field [0001] The invention belongs to the field of remote sensing and photogrammetry, and relates to a redundant fault-tolerant control method for unmanned aerial vehicle remote sensing networking. Background technique [0002] The existing, conventional remote sensing and photogrammetry fields are no longer limited to satellites and high-altitude manned aircraft. With the development of small and light UAVs, UAVs are playing an increasingly important role in remote sensing, and the number of applications of UAVs as an available low-cost system has been growing in the past decade. In addition to low cost, drones have some other factors that make them really suitable for surveillance and surveying in a variety of conditions, such as portability, small size, light weight, ability to fly over hard-to-reach areas, Quickly acquire a large amount of information on a relatively large area when looking at a distance. [0003] Yang et al. used drones as a remote sensing p...

AI Technical Summary

Problems solved by technology

Among them, the fundamental problem is that as the complexity of the system increases, its reliability will drop sharply unless compensating measures are taken

Images