Redundancy arbitration switching method and system of unmanned aerial vehicle and computer equipment

Abstract

The invention discloses a redundancy arbitration switching method and system of an unmanned aerial vehicle and computer equipment, the unmanned aerial vehicle comprises a plurality of flight control subsystems, each flight control subsystem comprises an unmanned aerial vehicle power model, and the unmanned aerial vehicle power model comprises an attitude control loop and a position control loop; the redundancy arbitration switching method comprises the following steps: receiving sensor data corresponding to a plurality of flight control subsystems in real time; performing fault-tolerant control on the sensor data, and determining corresponding optimal flight attitude data; and screening out an optimal control system based on the optimal flight attitude data so as to switch the optimal control system to perform flight control on the unmanned aerial vehicle in the current control period. The redundancy of the unmanned aerial vehicle sensor and the robustness of the unmanned aerial vehicle control system can be improved, and it is ensured that the multi-rotor unmanned aerial vehicle can safely and stably execute a certain specific task.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to a method, system and computer equipment for redundancy arbitration switching of unmanned aerial vehicles. Background technique [0002] The quality of the flight control system (Flight Control System) directly determines whether the UAV can complete the scheduled flight mission, and the flight control computer (Flight Control Computer) is the core of the flight control system. The flight control computer collects original information such as airframe attitude, speed, and position from the on-board sensors, performs navigation calculations, and then performs control law calculations, and finally outputs control signals to the actuators to control the aircraft to fly according to the scheduled mission. Respond to mission devices. However, with the application of UAVs in military and industry, some missions are performed in extremely harsh environments, and the tasks ...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the prior art, the present invention proposes a redundant degree arbitration switching method, system and computer equipment for unmanned aerial vehicles, which are used to solve the problems caused by the failure of the main controller and the operation error of the system program during the flight of the unmanned aerial vehicle. Not only that, but the redundancy arbitration switching system can also be used for the optimal control of multi-sensors to realize data optimization and other algorithms, so as to screen out the optimal control system to meet the needs of different users

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