The invention discloses an unmanned aerial vehicle actuating mechanism fault diagnosis method based on extended Kalman filtering. The extended Kalman filtering technology is adopted to introduce the state of an actuating mechanism into a state vector of a filter, and only one filter can be used for monitoring all health states of one actuating mechanism, so that the method has the advantages of small calculated amount and high fault diagnosis speed. According to the unmanned aerial vehicle actuating mechanism fault diagnosis method based on extended Kalman filtering, three fault types of jamming, swinging and proportionality coefficient of the actuating mechanism can be comprehensively monitored, and the unmanned aerial vehicle actuating mechanism fault diagnosis method can be suitable fora flight control system which is limited in operational capability and requires rapid diagnosis and determination of the fault type of the unmanned aerial vehicle actuating mechanism.
本发明公开了一种基于扩展卡尔曼滤波的无人机执行机构故障诊断方法,采用扩展卡尔曼滤波技术将执行机构的状态引入到滤波器的状态向量中,仅用一个滤波器就可以对应一个执行机构的全部健康状态监测,具有计算量小、故障诊断速度快的优点。本发明提供的上述基于扩展卡尔曼滤波的无人机执行机构故障诊断方法,能够综合监测执行机构卡死、摆动和比例系数等三种故障类型,可适用于运算能力有限但要求快速诊断确定无人机执行机构故障类型的飞行控制系统。
Unmanned aerial vehicle actuating mechanism fault diagnosis method based on extended Kalman filtering
一种基于扩展卡尔曼滤波的无人机执行机构故障诊断方法
2020-11-13
Patent
Electronic Resource
Chinese
IPC: | G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL / B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen |
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