Based on the modeling of the UAV and its FCS, the method of Parity Space and Unitary Linear Recursive Analysis is put forward to diagnose the fault on actuator, and the Kalman Filter is proposed to detect and diagnose the fault on control surface.

• 文中建立了无人机及其飞控系统典型故障的数学模型，提出了等价空间法和一元线性回归分析法来诊断作动器故障，并采用奇偶空间法和非线性卡尔曼滤波法实现了对操纵面故障的检测和隔离。