Research On Fault Tolerance Based On Information Processing Of Autonomous Navigation System

With the continuous development and application of quadrotor unmanned aerial vehicle,the research that they can maintain strong reliability and high precision while failing has received great attention.Configuring the redundant navigation system is an effective method for fault tolerant,and ensure the strong reliability of the quadrotor unmanned aerial vehicle.However,in redundant autonomous navigation system,there are cases where the same navigation signal has multiple signal sources.It is necessary to carry out classify collate and fault tolerant reconstruction management on the signals of each redundant autonomous navigation system.Through the improved voting algorithm,the autonomous navigation system can obtain the reliability and uniqueness of the signals,thus achieving the purpose of stabilize autonomous navigation system with strong reliability and high accuracy.In this paper,the fault tolerant study of autonomous navigation system is divided into three aspects: the construction of redundant navigation system for quadrotor unmanned aerial vehicle,the fault detection algorithm for autonomous navigation system,and the fault tolerant reconfiguration management algorithm for autonomous navigation system.The main contents of the fault tolerant study are as follows:1.Based on the theory of INS/GPS integrated navigation system,analyzing the basic principle of each subsystem and its error,this paper analyzes each subsystem and build mathematical model to simulate system.2.Through the analysis of the applicability of the fault detection algorithm,the fault detection algorithm based on analysis redundancy is chosen as the fault detection method for the navigation system of the quadrotor unmanned aerial vehicle.3.Due to the high cost of hardware redundancy and complexity of system structure,the analytical redundancy technology of autonomous navigation system is adopted.Then the analyzed signal and the real equipment signal are sent to fault tolerant reconstruction management,which provides a reference standard for fault detection and basis for system reconstruction.4.Research on fault-tolerant and reconstruction algorithm used in autonomous navigation system.On the basis of previous fault detection for hardware redundancy,the former fault tolerant and reconstruction algorithm is improved.On the basis of previous research for average voting algorithms and median voting algorithms,the voting algorithm is improved based on statistical acquisition.Finally,this paper uses SIMULINK to build model of redundant navigation system,carry out the Simulation of the system and the fault tolerant reconstruction algorithm is verified by simulation.The simulation results show that the error of the integrated navigation system is significantly reduced compared with the normal error.The redundant navigation system can isolate the fault signal and provide different signal voting for different faults.The improved voting algorithm can make the reconstructing signal approach the actual value when the system fails.