Research Of Fault Injection And Analysis System For Unmanned Aerial Vehicle Based On Linux

Fault injection is an effective technique for the validation of fault-tolerant computer systems. The effect of results from fault injection experiment is heavily depended on the accuracy of the method used in the experiment. In view of the feature of Unmanned Aerial Vehicle(UAV), the application of fault injection technique in the dynamic test of flight control system of UAV is studied in this paper.Firstly, the method and mode of software fault injection are introduced in this paper. Secondly, for making sure that the fault injection system causes little delay when connected to target system, RTLinux OS is analyzed, and the method of how to improve real time is discussed.Then, some important software fault injection technique are collected on the basis of the study of flight control system of UAV, then a scheme to implement the design of fault injection system via interdicting and acquiring data in exterior bus is presented, by which the fault of airborne equipment in UAV can be simulated in real time, and the speediness invalidation process in life test can also be demonstrated. Finally, a practical fault injector is designed and constructed, which is used to test the reliability of UAV and examine the ability of fault detection,fault isolation and system reconstruction.This thesis applied the method and technique of fault injection to dynamic test for the first time. It is a valid means for UAV flight control system to research, experiment and evaluation. Differ from former fault injection researches, this thesis did not adopt hardware method which was common used before but the method of software emulation and injection. The method reduced the implement difficulty of fault injection, also it weakened dangerous of target system brought by fault injection test.