Fault Handling Logic for Sky Hook Recycling Drone Sensor Failure

For small unmanned aerial vehicles, when a sensor of a drone is faulty, it is necessary to switch the information source to ensure that the sensor information of the drone is safe and reliable. when all the information sources fail, no information source can be switched, and an emergency fault is required. Dispose of the drone into a stable or semi-stable state. This paper takes the hook recovery UAV as an example, assigns the information source priority, defines the sensor failure criteria, and finally designs the sensor fault handling logic. The simulation test is carried out by semi-physical simulation. The results show that this method can switch the flight mode of the drone quickly and effectively when the sensor is faulty, and ensure the safe flight of the drone.