Research on Small UAV Integrated Navigation System Based on Fault Detection and Isolation Algorithm

摘要

The role of the uav navigation system is to provide navigation data to the flight control computer for guidance and control. Any error in the navigation system may lead to the failure of the whole UAV. Therefore, the navigation system should have fault detection and isolation (FDI) algorithm. This paper studies a low-cost integrated navigation system with fault detection and isolation (FDI) for uav navigation. The hardware includes low-cost commercial MEMS, GPS receiver, magnetometer and navigation computer, and the software includes kalman filter with FDI algorithm. Through simulation experiments, it is verified that the system has certain practical value with faster convergence and smaller combination error after adopting FDI algorithm.