A fault-tolerant integrated navigation for UAV systems using time-variant vector distribution coefficients

The fault-tolerant integrated navigation is studied for the unmanned aerial vehicle (UAV) system. Considering different navigation accuracy and observability degree of each system state component, the vector distribution coefficients, which ensure the satisfaction of the law of conservation of information, are firstly developed for federated Kalman filter to get better navigation accuracy. Then, fault-tolerant navigation filters are proposed to detect and address the possible faults during the navigation period. Finally, aided by the relative bearing and speed information on the leader UAV, two navigation simulation examples are conducted to illustrate the effectiveness of the proposed method.