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http://dx.doi.org/10.5626/KTCP.2015.21.1.29

A Fault-tolerant Inertial Navigation System for UAVs Based on Partition Computing  

Jung, Byeongyong (Hankuk University of Foreign Studies)
Kim, Jungguk (Hankuk University of Foreign Studies)
Publication Information
KIISE Transactions on Computing Practices / v.21, no.1, 2015 , pp. 29-39 More about this Journal
Abstract
When new inertial navigation systems for an unmanned aerial vehicles are being developed and tested, construction of a fault-tolerant system is required because of various types of hazards caused by S/W and H/W faults. In this paper, a new fault-tolerant flight system that can be deployed into one or more FCCs (Flight Control Computers) is introduced, based on a partition scheme wherein each OFP (Operational Flight Program) partition uses an independent CPU and memory slot. The new fault-tolerant navigation system utilizes one or two FCCs, and executes a primary navigation OFP under development and a stable shadow OFP partition on each node. The fault-tolerant navigation system based on a single FCC can be used for UAVs with small payloads. For larger UAVs, an additional FCC with two OFP partitions can be used to provide both H/W and S/W fault-tolerance. The developed fault-tolerant navigation system significantly removes various hazards in testing new navigation S/Ws for UAVs.
Keywords
Partition computing; UAV; Navigation S/W; Real-time object; ARINC653; TMO; TMO.p;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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