航空学报 > 2016, Vol. 37 Issue (S1): 91-98   doi: 10.7527/S1000-6893.2016.0171

临近空间无人飞行器多余度容错导航系统设计

吴永亮1,2, 蔡亚男3, 宝音贺西2, 熊立川1, 刘盛川1   

  1. 1. 成都飞机设计研究所, 成都 610091;
    2. 清华大学 航天航空学院, 北京 100084;
    3. 电子科技大学 航空航天学院, 成都 611731
  • 收稿日期:2016-04-22 修回日期:2016-05-27 出版日期:2017-01-10 发布日期:2016-07-12
  • 通讯作者: 吴永亮,Tel.:028-65503838,E-mail:wuyongliang@buaa.edu.cn E-mail:wuyongliang@buaa.edu.cn
  • 作者简介:吴永亮,男,博士,高级工程师。主要研究方向:无人机飞控系统设计与综合。Tel.:028-65503838,E-mail:wuyongliang@buaa.edu.cn;蔡亚,男,女,硕士。主要研究方向:无人机导航、无人机飞控系统设计与综合。Tel.:028-65503838,E-mail:caiyanan123@163.com;宝音贺西,男,博士,教授。主要研究方向:航天器动力学与控制。Tel.:010-62795211,E-mail:baoyin@tsinghua.edu.cn;熊立川,男,研究员。主要研究方向:无人机导航、制导与控制系统设计与综合。Tel.:028-65503838,E-mail:liulu861210@yahoo.com.cn;刘盛川,男,研究员。主要研究方向:无人机导航、制导与控制系统设计与综合。Tel.:028-65503838,E-mail:itmrobot@163.com

Design of redundant fault-tolerant navigation system for near space UAV

WU Yongliang1,2, CAI Ya'nan3, BAOYIN Hexi2, XIONG Lichuan1, LIU Shengchuan1   

  1. 1. Chengdu Aircraft Design & Research Institute, Chengdu 610091, China;
    2. School of Aerospace Engineering, Tsinghua University, Beijing 100084, China;
    3. School of Aeronautics and Astronautics, University of Electronic Science and Technology of China, Chengdu 611731, China
  • Received:2016-04-22 Revised:2016-05-27 Online:2017-01-10 Published:2016-07-12

摘要:

临近空间无人飞行器导航系统的故障直接影响到飞行器的任务执行和飞行安全,因此必须能够长时间地保持稳定性和精确性,为达到此目的必须设计由惯性导航、卫星导航等多种导航传感器组成的多源多余度容错导航系统,提高系统的可靠性。针对临近空间飞行器制导控制对导航信息的需求,提出了一种标准的三余度导航系统架构,并设计了采用新型加权平均表决子算法,具备故障检测和隔离以及故障重构功能的容错重构算法,构建了适用于临近空间无人飞行器的多余度容错导航系统,通过实测试验数据仿真验证了容错导航系统的性能,展示了系统一次故障工作的故障容错能力。所研究内容也可被其他类型的无人飞行器借鉴和参考。

关键词: 临近空间无人飞行器, 导航系统, 故障检测, 故障隔离, 容错重构

Abstract:

The near space UAV's navigation system fault can directly influence the aircraft's mission execution and flight safety, so the navigation system must be reliable enough for continuous and accurate work. In order to satisfy this requirement, the navigation system must be configured with all available navigation devices, such as inertial navigation system and global navigation system, to improve the reliability. Based on the near space UAV's guidance and control requirements for the navigation information, this paper proposes a standard three-redundant navigation system architecture, and designs the fault reconfiguration algorithm to realize the fault detection, isolation and reconfiguration by using a new weighted average signal voting algorithm. The simulation result using real sensor's measurement data validates the fault tolerant ability of the navigation system and the algorithm proposed in this paper. The research in this paper can be used for reference for the navigation system design for other types of UAVs.

Key words: near space UAV, navigation system, fault detection, fault isolation, fault reconfiguration

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