等残差卡尔曼滤波器组算法的无人机控制故障诊断

UAV Control System Fault Diagnosis based on Equivalent Residual Kalman Filter Algorithm

提出了一种等残差卡尔曼滤波器组算法,它只需要单个卡尔曼滤波器的残差和状态估计及其线性变换,就可得到与标准的多模自适应滤波算法等价的残差,因此可以有效地减少计算量和计算时间。将此算法应用于某无人机控制系统的故障诊断,仿真结果验证了该方法的有效性。

An equivalent residual filter bank algorithm for MMAE is proposed, which only need single Kalman filter residual, state estimation and linear transformation, to obtain the residual equivalent to the standard multiple model adaptive filter algorithm, computation and computing time will decrease effectively. Simulation result shows that the method is effective.