本项目面向无人机在复杂飞行环境中执行任务的高自主和高安全等需求，瞄准无人机面临的关键科学问题“复杂高对抗环境下的自主安全控制”，开展典型故障模态分析、特性表征与无人机故障建模；故障快速精细诊断与能力量化分析；具有威胁规避功能的航迹重构与多约束条件下的控制重构等研究，并对研究方法开展综合测试、评估与优化修正。通过发展自主安全控制系统理论和技术，提高无人机的复杂环境适应性和自主快速容错能力，提升我国无人机技术自主创新能力，满足国家科技发展战略，具有重要的理论和工程意义。此外，本项目的实施有望为其他类型的智能无人系统自主安全控制提供有效的理论支撑。

This project is aimed at meeting the high requirement of UAV autonomy and safety in the presence of complicated flight environments. In an attempt to address the fundamental issue “autonomous safety control in the case of complicated and high confrontation environments”, the emphasis of this project includes fault mode analysis and modeling, prompt and delicacy fault diagnosis, quantitative analysis of post-fault system ability, UAV trajectory reconfiguration, control reconfiguration, comprehensive evaluation of the studied methods, and the corresponding modifications, respectively. By virtue of the autonomous safety control theories and techniques studied in this project, which have independent intellectual property rights, the adaptability in response to complicated environments and the autonomous fault-tolerant capability will be enhanced. The research will also be beneficial for the industrial upgrading and application of UAVs in China. In addition, this project will provide a solid foundation of safe control development of other types of unmanned vehicles.