Fault tolerance system for UAV using hardware in the Loop Simulation

摘要

In Unmanned Aerial Vehicle system, the application software is large and becoming hard to meet the real-time application. UAV system may suffer faults in the controlled plant as well as in the execution platform. The execution platforms support a modern real-time embedded system, but distributed architecture is made of heterogeneous components that may incur transient or permanent faults. In the proposed system, we have developed UAV system based on Hardware in-the Loop Simulation (HILS), which is used for testing the UAV with real time data and real environment. This technique of simulation makes the system to be tested extrinsically with various conditions. The major part of this system deals with fault tolerance system for the UAV with fault injection mechanism and fault detection mechanism using the fault tree analysis. The fault recovery mechanism is also used for making the UAV to land in the safe mode. This paper also deals with the hardware in the simulation setup for the UAV system using the QNX operation system. This reliable architecture can enhance analysis capabilities for critical safety properties and reduce costs for such systems using Hardware in-the Loop Simulation.