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A Fault Tolerant, Data Fusion System For Navigation Applications To A Ducted Fan Vtol Uav, Jian Lu
A Fault Tolerant, Data Fusion System For Navigation Applications To A Ducted Fan Vtol Uav, Jian Lu
Dissertations, Master's Theses and Master's Reports
A Fault Tolerant, Data Fusion (FTDF) algorithm for a Ducted Fan Unmanned Aerial Vehicle (DFUAV) Navigation System is presented. The algorithm have two parts: Gradient Descent (GD) for the Attitude and Heading Reference System (AHRS) and an Interacting Multiple Model (IMM) for position estimation. The GD methodology was designed to fuse the gyroscope, accelerometer, and geomagnetic sensors. The IMM algorithm is able to identify and compensate for multiple sensors data failures. There are three parts in the presentation.
Firstly, system identification and the Allan Variance method is used to build dynamic models and noise models for multiple Sensors and Actuators. …