临近空间无人飞行器多余度容错导航系统设计

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。

Design of redundant fault-tolerant navigation system for near space UAV

The near space UAV's navigation system fault can directly influence the aircraft's mission execution and flight safety, so the navigation system must be reliable enough for continuous and accurate work. In order to satisfy this requirement, the navigation system must be configured with all available navigation devices, such as inertial navigation system and global navigation system, to improve the reliability. Based on the near space UAV's guidance and control requirements for the navigation information, this paper proposes a standard three-redundant navigation system architecture, and designs the fault reconfiguration algorithm to realize the fault detection, isolation and reconfiguration by using a new weighted average signal voting algorithm. The simulation result using real sensor's measurement data validates the fault tolerant ability of the navigation system and the algorithm proposed in this paper. The research in this paper can be used for reference for the navigation system design for other types of UAVs.