Abstract
In the field of USV autonomous control system design, redundant design technology is the important method to improve system reliability. In order to solve the problem of insufficient reliability when USV carrying out long endurance and open sea task, this paper analyzes the critical design elements of autonomous control system redundant configuration, presents a high reliable hybrid redundant structure for USV autonomous control system, and realizes redundant strategy and fault-tolerant control. This paper forms the USV autonomous control system redundant configuration scheme comply with the fault-tolerant capability and redundant rank of USV autonomous control system. Redundancy management strategies and algorithms are used to implement USV autonomous control based on hybrid redundant design. The reliability analysis and computation validate task reliability of the autonomous control system based on hybrid redundant structure.
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