Arquitectura de fusión sensorial tolerante a fallos para la estimación de la actitud en UAVs
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La redundancia de unidades de medida inercial (IMU) dota al sistema de navegación de mayor precisión, confiabilidad y robustez en el control del vehículo aéreo no tripulado (VANT). Así, se presenta una arquitectura de fusión sensorial tolerante a fallos. Las estimaciones de actitud realizadas con acelerómetros y giroscopios triaxiales de tres IMUs, más la obtenida con un modelo del VANT, se fusionan mediante un algoritmo de medias ponderadas. Sus pesos se asignan: (i) en virtud de un sistema de votación que penaliza las discrepancias entre las fuentes de información y (ii) en base a la confiabilidad de las fuentes. Para ello, se han caracterizado los errores estocásticos de estimadores y sensores IMU, incluyendo fenómenos no estacionarios identificados mediante la varianza de Allan. Mas allá de obtener la fusión más precisa, la arquitectura será capaz de eliminar las estimaciones con fallo. Los resultados verifican varios escenarios de fallo de IMU y se comparan las mejoras de fusión con otros algoritmos.
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