Research On Similarity Redundancy Kernel Technology Of Multi-Rotor Flight Controller Based On Data Arbitration Algorithm

With the popularization and application of multi-rotor unmanned aerial vehicle in military and civil market,its flight environment and functional requirements are becoming more and more complex,with the failure rate of the flight control system increase.As the core of the flight control system,the stability and reliability of the flight control computer have an important impact on the overall performance of the flight control system,so it is of great significance to improve the reliability of the flight control computer.At present,hardware redundancy technology is mostly used for flight control computer design,and good practical results have been achieved,but most use fault diagnosis method based on analytical model to perform flight control computer kernel fault diagnosis,which requires detailed system information,and the design is more difficult.In this paper,a kind of similarity redundancy flight control computer kernel technology based on data arbitration algorithm is studied.In the absence of detailed system information,the fault kernel unit can still be quickly and accurately judged and the design burden can be reduced.Firstly,aiming at the characteristics of multi-rotor unmanned aerial vehicle,the development of redundancy technology of flight control system,the design method,structure configuration and management strategy of redundancy technology are deeply studied.According to above vital factors,a set of research scheme of similar redundancy computer kernel technology based on hot backup is finally determinedSecondly,according to the function demands of the flight control computer kernel and redundant management module,the hardware structures and resources are configured rationally.The hardware platform was built respectively with STM32 and FPGA as the core,and to realize the basic function of flight control computer through the software design,in the redundancy management,a data arbitration algorithm based on Kalman filter is proposed,and through highspeed switch to realize redundant switching.Finally,the functions of each module are tested repeatedly,and the system is tested with open loop,the results show that the data arbitration algorithm can accurately judge faults in real time and realize control switching.Markov model is used to analyze the improvement of system reliability,and finally it shows that the similar dual-redundancy flight control computer kernel system based on data arbitration algorithm meets the design requirements of multi-rotor unmanned aerial vehicle.