[1]位士超,祖家奎,秦 勇,等.无人直升机多源冗余容错导航系统设计与实现[J].机械与电子,2025,(07):60-66.
　WEI Shichao,ZU Jiakui,QIN Yong,et al.Design and Implementation of Multi-source Redundant Fault-tolerant Navigation System for Unmanned Helicopter[J].Machinery & Electronics,2025,(07):60-66.
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无人直升机多源冗余容错导航系统设计与实现()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年07期
页码:
60-66
栏目:
智能制造
出版日期:
2025-07-27

文章信息/Info

Title:
Design and Implementation of Multi-source Redundant Fault-tolerant Navigation System for Unmanned Helicopter
文章编号:
1001-2257 ( 2025 ) 07-0060-07
作者:
位士超; 祖家奎; 秦 勇; 刘世龙
南京航空航天大学自动化学院,江苏 南京 211106
Author(s):
WEI Shichao ;  ZU Jiakui ;  QIN Yong ;  LIU Shilong
( College of Automation Engineering , Nanjing University of Aeronautics and Astronautics , Nanjing 211106 , China )
关键词:
无人直升机; 传感器; 双 CPU ; 冗余导航; 容错算法
Keywords:
unmanned helicopter ;  sensor ;  double CPU ;  redundant navigation ;  fault-tolerant algorithm
分类号:
V249.32
文献标志码:
A
摘要:
设计了一种“双 CPU+FPGA ”架构的冗余导航计算系统,旨在提高无人直升机在高振动环境下的导航系统适应性、可靠性与精度,并有效应对传感器故障及精度不足的问题。系统采用模块化、层次化的软件设计,硬件包含 CPU 解算模块、驱动模块、信号采集模块、通信模块和电源模块,构建了三重冗余结构。根据所设计的导航系统提出了基于软阈值的三冗余表决容错算法,并对冗余导航信息进行降维处理以减小计算量。动态车载测试结果表明,该多源冗余容错导航系统可以满足无人直升机对新型惯性导航的技术要求,为飞控系统的高性能导航提供了工程应用基础。
Abstract:
This paper designs a redundant navigation computing system with a “ dual CPU+FPGA ” architecture , aiming to improve the adaptability , reliability , and accuracy of the navigation system of unmanned helicopters in high vibration environments , and effectively address the problems of sensor failures and insufficient accuracy.The system adopts a modular and hierarchical software design , with hardware including CPU calculation module , driver module , signal acquisition module , communication module , and power module , constructing a triple redundant structure.A three redundant voting fault tolerant algorithm based on soft threshold was proposed for the designed navigation system , and the redundant navigation information was reduced in dimensionality to reduce computational complexity.The dynamic onboard test results indicate that the multi-source redundant fault-tolerant navigation system can meet the technical requirements of unmanned helicopters for new inertial navigation , providing an engineering application foundation for high-performance navigation of flight control systems.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2024-10-18
作者简介:位士超 ( 2001- ),男,河南周口人,硕士研究生,研究方向为飞行控制与仿真技术、嵌入式系统;祖家奎 ( 1974- ),男,江苏徐州人,博士,副研究员,研究方向为无人机飞行控制与仿真技术、嵌入式系统。
更新日期/Last Update: 2025-09-02