Architecture of a Fault-Tolerant Navigation, Guidance and Control Computer

This work details the design and construction of a Navigation, Guidance and Control flight controller for small au-tonomous vehicles. With the objective of achieving fault tolerance in the on-board computer of a small Unmanned Aerial Vehicle (UAV), the necessary considerations are taken for the connection and management of information between three identical units called nodes. A distributed architecture is proposed, where each node receives the data acquired by the others and executes an algorithm to corroborate its consistency. To validate the operation, an experimental test is carried out where the failure of an inertial unit is detected.