{'fraction_non_alphanumeric': 0.01990521327014218, 'fraction_numerical': 0.0, 'mean_word_length': 5.901960784313726, 'pattern_counts': {'":': 0, '<': 0, '<?xml version=': 0, '>': 0, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
Collaborative Fault-Tolerant Navigation Method for Unmanned Swarm based on MHSS

In a UAV swarm, the additional measurement information shared among aircrafts can improve adaptability and safety of UAVs. Because the multi-faults of UAV navigation system is difficult to detect in a complex environment, a collaborative fault-tolerant navigation method for aircraft swarm is proposed. First, considering the influence of different measurement characteristics of GNSS pseudorange and aircraft ranging information on detection, a cooperative augmentation positioning model is established. Then, utilizing the cooperative observations, the improved multi-hypothesis solution separation (MHSS) algorithm can be applied in the case of few satellites, and determine the faulty satellites by checking the difference of subset solutions. Simulation results show that the method can effectively guarantee the availability and accuracy of multi-fault detection under the condition of few satellites, and improve the fault-tolerant navigation capability of UAV swarm.