Implementation of a Distributed Fault-Tolerant Computer for UAV

Aiming at flight safety of high-altitude long-endurance unmanned aerial vehicle (UAV), a distributed fault-tolerant computer (FTC) was designed based on controller area network(CAN). According to the requirements of UAV control and the system structure of FTC, solutions of key issues (redundancy management, synchronization technology, scheduling strategy, CAN communication and software implementation technology) were given. Special testing and simulation results showed that the FTC was well-functioning and met the requirements of UAV flight control system.