Research On Tedundancy Technology Of Flight Control Of UAV Drone

UAV compared with inhabited aircraft has advantages of no casualties、long endurance、strongbattlefield survivability. It has wider application of in military and civil aspects. But the high faultratio has caused the poor reliability of UAV. The UAV of this paper is low cost and high performancetarget drone, so in the course of the study while improving the reliability we should consider the costof target drone.Firstly, according to the high reliability of the target drone, a mothed is proposed which usingredundant technique to improve the reliability of target drone. Under the consideration of the cost andthe payload needs of target drone, the flight control computer cann’t use redundant technique; Sensorsystem adds a barometric altimeter and independent research and development inertial measurementunit to improve the reliability of sensor system on the basis of the original GPS and vertical gyro.Executive mechanism still use aileron、elevator and rudder. The system just divides these three groupsof the executive mechanism into five independent control channels to improve the control redundancyand the reliability of the executive mechanism.Secondly, this paper configures redundant equipment for height and attitude. Then this paperbriefly introduction the works of every sensor. Height and attitude information is fused by federatedfilter and strong tracking filter to improve their accuracy and reliability; The fault of the sensor isdetected by sequential probability method. The effectiveness of fusion method and fault detectionmethod are verified through simulation experiment.Finally, the fault types of executive mechanism are analysized and tested through detection filter.Then the fault is listed out in the form of fault tree and according to the every fault the reconstructionof the control law is proposed. The effectiveness of the reconstruction is verified through simulationexperiment.