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A multi-fault detection method for unmanned bee colony cooperative navigation

A technology of collaborative navigation and detection method, applied in the field of navigation, can solve the problems of diagnosis failure, erroneous diagnosis, multiple fault detection sensitivity decline, etc., to achieve the effects of good adaptability, reliability, and wide applicability

Active Publication Date: 2022-07-26
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

[0004] Purpose of the invention: In order to solve the problems of traditional fault detection methods such as decreased sensitivity to multiple fault detection, diagnostic failure or wrong diagnosis, the present invention proposes a multi-fault detection method for unmanned bee swarm cooperative navigation

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  • A multi-fault detection method for unmanned bee colony cooperative navigation
  • A multi-fault detection method for unmanned bee colony cooperative navigation
  • A multi-fault detection method for unmanned bee colony cooperative navigation

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Embodiment Construction

[0075] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0076]The invention provides a multi-fault detection method for unmanned bee colony cooperative navigation, which utilizes the unmanned bee colony cooperative information to assist in the multi-fault detection and identification of the unmanned aerial vehicle navigation system; The collaborative fault-tolerant architecture is designed for the navigation observation information, and a multi-level Kalman filter is constructed by using the combination of different measurement information, and the fault state of the UAV navigation satellite and the collaborative measurement information is detected by the difference of different filter solutions, and the fault is detected. Measurement isolation to realize fault-tolerant reconstruction of UAV collaborative navigation system. like figure 1 shown, the specific steps are as follows:

[0077] Step (1): Let the curren...

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Abstract

The invention discloses a multi-fault detection method for unmanned bee colony cooperative navigation, which utilizes the unmanned bee colony cooperative information to assist in multi-fault detection and identification of an unmanned aerial vehicle navigation system; The self-navigation observation information is used to design a collaborative fault-tolerant architecture, and a multi-level Kalman filter is constructed by using the combination of different measurement information. Fault measurement isolation to realize fault-tolerant reconstruction of UAV cooperative navigation system. The invention takes into account the possible multiple faults of the unmanned bee colony navigation system, constructs filters of different levels to realize the separation of multiple fault measurement information, and can flexibly detect the number of fault measurement information of the collaborative navigation system without changing the level. The filtering structure has good adaptability; the present invention has wide applicability and is not limited by the type and quantity of collaborative auxiliary information.

Description

technical field [0001] The invention belongs to the technical field of navigation, and in particular relates to a multi-fault detection method for unmanned bee colony cooperative navigation. Background technique [0002] Unmanned swarms are often used to perform complex and challenging tasks. When they work in harsh environments, the navigation system of unmanned swarms is prone to multiple types of failures occurring at the same time, which greatly affects unmanned swarms. Autonomous and reliable flight of swarms. The traditional fault diagnosis method mainly uses the sensor information of the aircraft itself to build a fault detection model. In the case of complex and uncertain interference, the detection sensitivity may decrease, or even the detection error may occur. The collaborative information between multiple UAVs provides multi-scale redundant measurement information for the UAV navigation system, which can be used to monitor the health of the UAV navigation system...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S19/23G01C25/00
CPCG01S19/23G01C25/00
Inventor 陈欣王融熊智刘建业钱伟行陈明星聂庭宇张慧媛何辉赵惟成
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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