一种小型无人机高度传感器余度设计方法

为提高小型无人机飞行控制系统的可靠性，利用GPS提供的高度信息设计了气压高度传感器的余度备份.运用飞机运动学方程对低频率GPS高度信号进行补偿，提高了信号的实时性与可用性，设计的气压高度传感器故障处置流程将高度信号的切换与模态管理结合起来，减小了高度信号切换产生的不良瞬态.仿真结果表明，飞行控制系统在气压高度传感器出现故障时可及时切换到高度备份传感器并能有效隔离故障源，GPS高度信号经补偿后可满足飞行安全要求，余度设计提高了整个飞行控制系统的可靠性.

Redundancy design method for altitude sensor of a small UAV

In order to improve the reliability of flight control system(FCS) of small unmanned aerial vehicle(UAV),the redundancy backup of a barometric altitude sensor was designed with the altitude information provided by GPS.The aircraft kinematic equations were applied to compensate the altitude signals obtained with low-frequency GPS,and thus the real-time performance and availability of the signals were improved.The switching of altitude signals was combined with the modal management by the fault disposal process of the designed barometric altitude sensor,and the bad transient state produced by the switching of altitude signals was reduced.The simulation results show that when a fault of barometric altitude sensor occurs,the FCS can switch to the altitude backup sensor in time and isolate the fault source effectively.The altitude signals obtained with GPS after compensation can meet the requirements in flight safety.In addition,the redundancy design enhances the reliability of whole flight control system.