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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。
Proximity space Unmanned aerial vehicles Navigation system failures directly affect mission performance and flight safety, and therefore must be able to maintain stability and accuracy for a long time, to achieve this goal must be designed by inertial navigation, satellite navigation and other navigation sensors Composed of multi-source redundancy fault-tolerant navigation system to improve system reliability. Aiming at the demand of navigation guidance for near-space vehicle guidance, a standard three-redundant navigation system architecture is proposed and a fault-tolerant reconfiguration with a new weighted average voting sub-algorithm, fault detection and isolation and fault reconstruction is designed. Algorithm, a redundant fault-tolerant navigation system suitable for the UAV near space is constructed. The performance of the fault-tolerant navigation system is verified by the measured test data and the fault tolerance of the system during the first fault operation is demonstrated. The content of the study can also be used for reference by other types of UAVs.