CN107037724A - A kind of unmanned plane redundant system based on CAN - Google Patents
A kind of unmanned plane redundant system based on CAN Download PDFInfo
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- CN107037724A CN107037724A CN201710369906.4A CN201710369906A CN107037724A CN 107037724 A CN107037724 A CN 107037724A CN 201710369906 A CN201710369906 A CN 201710369906A CN 107037724 A CN107037724 A CN 107037724A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B9/00—Safety arrangements
- G05B9/02—Safety arrangements electric
- G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
Abstract
The purpose of the application is to provide a kind of unmanned plane redundant system based on CAN, including：CAN physical layer, CAN physical layer includes CAN interface, and CAN interface is used in the control system of unmanned plane, unmanned plane internal wiring is reduced；The CAN protocol layer and unmanned aerial vehicle (UAV) control redundancy backup being connected respectively with CAN interface；The flag for the active/standby data that CAN protocol layer is used in preset unmanned aerial vehicle (UAV) control redundancy backup, unmanned aerial vehicle (UAV) control redundancy backup is used for flag and default redundancy backup mechanism based on active/standby data and active/standby data is defined as into effective Backup Data, the redundancy backup to the control system of unmanned plane is realized, the reliability of control system is improved.
Description
Technical field
The application is related to unmanned plane field, more particularly to a kind of unmanned plane redundant system based on CAN.
Background technology
Unmanned plane take precautions against natural calamities recover, scientific investigation, wind-power electricity generation inspection, the field such as technical grade environmental protection have it is wide should
With, and the flight control system of unmanned plane is the important component of unmanned plane, UAV Intelligent and it is practical in play
Important effect.Especially in industrial unmanned plane, the manufacturing cost of industrial unmanned plane is high, particularly fixed-wing unmanned plane, such as
Fuselage carbon fibre material is expensive；The system complex of industrial unmanned plane, therefore the system of unmanned plane is before end user is delivered, can be through
Substantial amounts of, prolonged test flight is crossed, to improve the reliability of industrial unmanned plane, is easy to the popularization and application of industrial unmanned plane.
In the prior art, ensure that the reliability with lifting industrial unmanned plane is very necessary in links, such as from zero
The quality risk of the management and control such as part buying, semi-finished product processing, finished product assembling, system test, system testing industry unmanned plane, but shadow
Its overwhelming majority of the quality risk of sound industry unmanned plane reliability can be found to correct or create conditions to carry in early stage
Before allow it to be exposed, it is unforeseen also to have some risks, is limited by varying environment factor, may be occurred at random,
Or it is limited by cost control, the exposure of later stage failure.
Therefore, the reliability of industrial unmanned plane is improved by attempting various approach, will is the industrial unmanned plane of future studies
Significant effort direction, and then how to effectively improve industrial unmanned plane reliability turn into industry research major subjects.
The content of the invention
The purpose of the application is to provide a kind of unmanned plane redundant system based on CAN, to solve existing unmanned plane
The problem of system complex and low reliability.
According to the one side of the application there is provided a kind of unmanned plane redundant system based on CAN, its feature exists
In, including：
CAN physical layer, the CAN physical layer includes CAN interface；
The CAN protocol layer and unmanned aerial vehicle (UAV) control redundancy backup being connected respectively with the CAN interface；
The flag for the active/standby data that the CAN protocol layer is used in preset unmanned aerial vehicle (UAV) control redundancy backup, the unmanned plane control
Redundancy backup processed is used for flag and default redundancy backup mechanism based on the active/standby data, and the active/standby data are true
It is set to effective Backup Data；
The unmanned aerial vehicle (UAV) control redundancy backup include active/standby flight control units, by the CAN interface respectively with it is described
Active/standby GPS unit, active/standby Inertial Measurement Unit and the active/standby PMU of active/standby flight control units correspondence connection；
The active/standby flight control units are used for according to the active/standby GPS unit, active/standby Inertial Measurement Unit and active/standby power supply pipe
Manage the state of flight for effective Backup Data control unmanned plane that unit is obtained.
Further, in the above-mentioned unmanned plane redundant system based on CAN, the unmanned aerial vehicle (UAV) control redundancy backup is heat
Backup.
Further, in the above-mentioned unmanned plane redundant system based on CAN, the active/standby data include active/standby flight
Location information, active/standby airspeed information and active/standby power state information, wherein,
The active/standby GPS unit is used for the active/standby flight location information for obtaining the unmanned plane；
The active/standby Inertial Measurement Unit is used to obtain active/standby airspeed information of the unmanned plane in flight course；
The active/standby PMU is used for the active/standby power state information for managing the unmanned plane；
Further, in the above-mentioned unmanned plane redundant system based on CAN, the airspeed information includes flying angle speed
Degree, Flight Acceleration.
Further, in the above-mentioned unmanned plane redundant system based on CAN, if the default redundancy backup mechanism is
Autocontrol handover mechanism, the unmanned aerial vehicle (UAV) control redundancy backup is used to be based on the autocontrol handover mechanism and the active/standby number
According to flag select effective Backup Data from the active/standby data.
Further, in the above-mentioned unmanned plane redundant system based on CAN, if the default redundancy backup mechanism is
Redundancy arbitration mechanism, the unmanned aerial vehicle (UAV) control redundancy backup is used for the mark based on redundancy arbitration mechanism and the active/standby data
Effective Backup Data is selected from the active/standby data in position.
Further, in the above-mentioned unmanned plane redundant system based on CAN, the CAN physical layer includes separate
Dual CAN bus interface, respectively the first CAN interface and the second CAN interface, wherein,
The active/standby Inertial Measurement Unit and the active/standby GPS unit by first CAN interface respectively with it is described
Active/standby flight control units correspondence is connected.
The active/standby PMU is single with the active/standby flight control respectively by second CAN interface
Member correspondence connection.
Further, in the above-mentioned unmanned plane redundant system based on CAN, in addition to：The boat lamp of unmanned plane indicates single
Member, wherein,
The boat lamp indicating member is connected by second CAN interface with the active/standby flight control units, for obtaining
Take state of flight and instruction of the unmanned plane in flight course.
Further, in the above-mentioned unmanned plane redundant system based on CAN, in addition to：The electricity of unmanned plane adjusts unit, its
In,
The electricity adjusts unit to be connected by second CAN interface with the active/standby flight control units, for obtaining
State the rotary speed information of the power brushless electric machine of unmanned plane and be sent to the active/standby flight control units；
The active/standby flight control units are used for the rotating speed that the brushless electric machine is adjusted based on the rotary speed information.
Further, in the above-mentioned unmanned plane redundant system based on CAN, in addition to：The data transfer list of unmanned plane
Member, wherein,
The data transmission unit is connected by second CAN interface with the active/standby flight control units, for connecing
The flight control instruction to the unmanned plane that ground or controller are sent is received, the active/standby flight control units are based on described
Flight control instruction adjusts the offline mode of the unmanned plane.
Further, in the above-mentioned unmanned plane redundant system based on CAN, the data transmission unit is additionally operable to：Will
The current flight parameter information of the unmanned plane is sent to ground.
Compared with prior art, the application is by a kind of unmanned plane redundant system based on CAN of offer, including：
CAN physical layer, the CAN physical layer includes CAN interface, is connect in the control system of the unmanned plane using CAN
Mouthful, reduce unmanned plane internal wiring so that the unit of the control system connected by CAN can with separate,
Be easy to system trimming, it is ensured that the control system of unmanned plane it is simple clear so that implemented between each unit easily reliable；Point
The CAN protocol layer and unmanned aerial vehicle (UAV) control redundancy backup not being connected with the CAN interface；The CAN protocol layer is used for preset
The flag of active/standby data in unmanned aerial vehicle (UAV) control redundancy backup, the unmanned aerial vehicle (UAV) control redundancy backup be used for based on the master/
The active/standby data are defined as effective Backup Data by the flag and default redundancy backup mechanism of standby data, with realization pair
The redundancy backup of the control system of unmanned plane, it is to avoid caused delay machine and loss of data after exception occurs in the control system of unmanned plane
Deng, and then improve the reliability of the control system of unmanned plane.Wherein, the unmanned aerial vehicle (UAV) control redundancy backup includes active/standby flight
It is control unit, mono- by the active/standby GPS of CAN interface connection corresponding with the active/standby flight control units respectively
First, active/standby Inertial Measurement Unit and active/standby PMU；The active/standby flight control units be used for according to the master/
Effective Backup Data control that standby GPS unit, active/standby Inertial Measurement Unit and active/standby PMU are obtained it is described nobody
The state of flight of machine, realizes effective control to unmanned plane.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows to be drawn according to a kind of unmanned plane functional unit of distributed architecture based on CAN of the application one side
Sub-module schematic diagram；
Fig. 2 shows a kind of module diagram of unmanned plane redundant system based on CAN according to the application one side；
Fig. 3 shows the redundancy arbitration machine in a kind of unmanned plane redundant system based on CAN according to the application one side
The data flow schematic diagram of each functional unit of system；
Fig. 4 shows the redundancy arbitration machine in a kind of unmanned plane redundant system based on CAN according to the application one side
Schematic diagram processed.
Same or analogous reference represents same or analogous part in accompanying drawing.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings.
In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and internal memory.
Internal memory potentially includes the volatile memory in computer-readable medium, random access memory (RAM) and/
Or the form, such as read-only storage (ROM) or flash memory (flash RAM) such as Nonvolatile memory.Internal memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer include, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM),
Dynamic random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electricity
Erasable Programmable Read Only Memory EPROM (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage
(CD-ROM), digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic
Property storage device or any other non-transmission medium, the information that can be accessed by a computing device available for storage.According to herein
Define, computer-readable medium not include non-temporary computer readable media (transitory media), such as modulation data
Signal and carrier wave.
In order to ensure the reliability of unmanned plane, the key subsystem progress redundancy backup for being on the one hand accomplished by meeting nobody is set
Meter, includes the hardware and software link of unmanned plane, it is desirable to which any Single Point of Faliure does not influence the normal fortune of the control system of unmanned plane
OK, even key node failure, the other parts in the control system of unmanned plane, which are also required that, possesses basic emergency backup work(
Energy；On the other hand, in the control redundancy backup of unmanned plane, when wherein a host node breaks down, back-up node is taken over
All services of host node, all functions of completion and offer, further, during main-standby nodes switch, do not permit
Being permitted any event of the generation in the loss for having information, handoff procedure does not allow loss；Control of the summary to unmanned plane
The factors such as technical difficulty, complexity, the risk point of the Redundancy Design of system, this application provides a kind of nothing based on CAN
Man-machine redundant system, the wherein CAN are distributed architecture as shown in Figure 1, are easy to the control system progress to unmanned plane
Redundancy backup.
Fig. 2 shows a kind of unmanned plane redundant system based on CAN according to the application one side, including：
CAN physical layer, the CAN physical layer includes CAN interface；It is total using CAN in the control system of the unmanned plane
Line interface, reduces unmanned plane internal wiring so that the unit of the control system connected by CAN can be mutually only
It is vertical, be easy to system trimming, it is ensured that the control system of unmanned plane it is simple clear so that implement and easily may be used between each unit
Lean on；
The CAN protocol layer and unmanned aerial vehicle (UAV) control redundancy backup being connected respectively with the CAN interface；
The flag for the active/standby data that the CAN protocol layer is used in preset unmanned aerial vehicle (UAV) control redundancy backup, the unmanned plane control
Redundancy backup processed is used for flag and default redundancy backup mechanism based on the active/standby data, and the active/standby data are true
It is set to effective Backup Data；To realize the redundancy backup to the control system of unmanned plane, it is to avoid the control system of unmanned plane occurs
Caused delay machine and loss of data etc. after exception, and then improve the reliability of the control system of unmanned plane.Wherein, the unmanned plane
Controlling redundancy backup includes active/standby flight control units, is controlled respectively with the active/standby flight by the CAN interface
Active/standby GPS unit, active/standby Inertial Measurement Unit and the active/standby PMU of unit correspondence connection；The active/standby flight
Control unit is used for according to having that the active/standby GPS unit, active/standby Inertial Measurement Unit and active/standby PMU are obtained
The state of flight that Backup Data controls the unmanned plane is imitated, effective control to unmanned plane is realized.
In order to reduce the internal wiring of unmanned plane and the complexity of control system and be easy in the control system of unmanned plane each
Data, the unmanned plane of the application can be interacted by CAN based on default CAN communication agreement between individual modular unit
The CAN distributed architecture as shown in Figure 1 used, wherein, the unmanned plane of the distributed architecture based on CAN flies control system
In system, the distributed architecture based on CAN is divided to the control system of unmanned plane, is specifically included：Inertial Measurement Unit
（Inertial Measurement Unit, IMU units）, GPS-Compass units（Global Positioning System
Unit, GPS unit）, data transmission unit DTU（(Data Transfer unit)）, PMU PMU（power
management unit）, boat lamp indicating member LED, flight control units FCU（Flight Control Unit）, electricity adjust single
First ESC（Electronic Speed Control）Deng, it is separate subsystem operation between above-mentioned all units, and
Intercommunication is realized by CAN.
Wherein, the Inertial Measurement Unit IMU is connected by the CAN interface with the flight control units FCU,
Three axis accelerometer built in Inertial Measurement Unit IMU, three-axis gyroscope, barometer etc., gather and provide pitching, horizontal stroke
The information such as rolling, course, height, and then airspeed information of the unmanned plane in flight course is obtained, wherein, the flight
Velocity information includes flight angular speed, Flight Acceleration, and is exported by the CAN interface to flight control units FCU,
To control the flying speed of unmanned plane.
The GPS unit, is connected by the CAN interface with the flight control units FCU, in the GPS unit
GPS module, three axle magnetometer are put, gathers and the course of unmanned plane, latitude and longitude coordinates etc. is provided, to get the unmanned plane
Flight location information, and the flight course that unmanned plane is controlled to flight control units FCU is exported by the CAN interface.
The data transmission unit DTU, is connected by the CAN interface with the flight control units FCU, it is ensured that
To the wireless data transmission of the transmitting-receiving of unmanned plane, the wireless data link function of unmanned plane is realized；By receiving ground or control
The flight control instruction to the unmanned plane that device is sent, and the flight control instruction is based on by flight control units FCU
The offline mode of the unmanned plane is adjusted, realizes that the data such as the flight control instruction carried out between earth station or remote control are handed over
Mutually, remote measurement and control unmanned plane is realized.
The PMU PMU, is connected by the CAN interface with the flight control units FCU, is responsible for
Manage the power state information of the unmanned plane, the in real time managing electric quantity such as carried to unmanned plane, dynamic cell voltage and electricity
Stream mode monitoring, power failure, dump energy etc. are managed, and realize and the power supply status of unmanned plane is monitored in real time.
The boat lamp indication LED：It is connected, is obtained in real time with the flight control units FCU by the CAN interface
State of flight and instruction of the unmanned plane in flight course, such as in the range of the visual range of unmanned plane, obtain and carry in real time
Show the state of flight of the unmanned plane flown in the air, be easy to ground staff to recognize flying for unmanned plane in time based on the prompting
Row state.
The core cell that the flight control units FCU unites for the control of unmanned plane, and it is skyborne big to be regarded as unmanned plane
Brain, is positioned according to the flight that the airspeed information of the Inertial Measurement Unit IMU unmanned planes obtained, GPS unit obtain unmanned plane
The information such as the power state information of unmanned plane that information and PMU PMU are obtained control the state of flight of unmanned plane,
Wherein, double-closed-loop control algorithm has been used inside the flight control units FCU.Flight control units FCU is also total by CAN
Line interface adjusts unit ESC to be connected with electricity, controls the power brushless electric machine of unmanned plane.Flight control units FCU is also total by CAN
Line interface is connected with the data transmission unit DTU, receives the flight from the data transmission unit DTU unmanned planes sent
Control instruction, such as obtain the flight path coordinate (one group of latitude and longitude coordinates, elevation information) of unmanned plane, take off, the difference such as land
Offline mode, the offline mode of unmanned plane is adjusted according to high flight control instruction.
Meanwhile, the data transmission unit DTU is by the current flight parameter information of unmanned plane（Such as power state information,
Flight location information, airspeed information, state of flight and offline mode etc.）Transmit to ground, so that ground understands nothing in real time
Man-machine state of flight.
The electricity adjusts unit ESC, is connected by the CAN interface with the flight control units FCU, is unmanned plane
Power brushless electric machine driver element, the rotary speed information of the power brushless electric machine of the unmanned plane is obtained in real time and institute is sent to
Flight control units FCU is stated, so that the flight control units FCU adjusts turning for the brushless electric machine based on the rotary speed information
Speed, realizes the instruction for obtaining control brushless motor speed in real time and is sent to flight control units FCU.
By the control system of the unmanned plane of the above-mentioned distributed architecture based on CAN, due to being connect using CAN
Mouthful so that reduce the internal wiring in the control system of unmanned plane, a bus communication.Unit in the control system of unmanned plane
More, communication, control, the physical interconnections of detection signal between each unit can increase internal body wiring, in production link, sell
After safeguard that link etc. adds workload or uncertainty, or even increase machine system uncertainty, therefore the application nobody
The control system of machine can reduce such trouble using CAN.
Again due in order to meet different application demand in future or mission requirements, some functional units or reduction may be increased
Some functional units, can increase the workload of modification, while can also increase security risk, therefore can allow control using CAN
System trimming processed is implemented easily, the security risk range-controllable of control system.
Again because the control system of whole unmanned plane is more complicated, functional unit is more, in the future newly-increased functional unit
Also it can increase, control system can become more complicated, Single plate for load engaging, which is realized, becomes difficult, therefore needs can be allowed using CAN
The system architecture of distributed multi-functional unit is realized in the control system of unmanned plane is, and then distributed multi-functional unit
System architecture implement and become easy and reliable, further, using CAN, be advantageously implemented in flight control system
Multi-computer system distribution there is provided high speed communication, high real-time, high reliability, high self-correction ability guarantee.
Again because the application uses the distributed architecture of CAN so that each function list of the control system of unmanned plane
Member can be as a subsystem and function it is clear and definite, from technology, product angularly, each function list in control system
Member solidifies, and is conducive to the reliability of aircraft system, is conducive to the service of goods in market.
The phase between each functional unit of control system of unmanned plane is being ensure that by the distributed architecture of CAN
Mutual independence and wiring complexity, for the reliability of the data of the core control system that ensures unmanned plane, the application is using such as
On the basis of CAN distributed architecture shown in Fig. 1, in addition it is also necessary to carry out redundancy to the critical function unit in control system standby
Part, as shown in Fig. 2 to the flight control units FCU in the superfluous system of control of unmanned plane, Inertial Measurement Unit IMU, GPS unit
And PMU PMU, i.e., unmanned aerial vehicle (UAV) control redundancy backup includes active/standby flight control units FCU in fig. 2, passes through institute
The active/standby GPS unit of CAN interface connection corresponding with the active/standby flight control units respectively is stated, i.e., described main GPS is mono-
Member is attached by the CAN interface with the main flight control units FCU, and the standby GPS unit passes through the CAN
EBI is attached with the standby flight control units FCU；The rest may be inferred, figure it is seen that the main inertia measurement
Unit is attached by the CAN interface with the main flight control units FCU；The standby Inertial Measurement Unit passes through
The CAN interface is attached with the standby flight control units FCU；The main power source administrative unit passes through the CAN
EBI is attached with the main flight control units FCU；The stand-by power source administrative unit passes through the CAN interface
It is attached with the standby flight control units FCU, realizes and the control system of unmanned plane is backed up.
Then above-described embodiment of the application, the unmanned aerial vehicle (UAV) control in unmanned plane redundant system as shown in Figure 2 is superfluous
Remaining backup, it is seen then that it is standby that the unmanned aerial vehicle (UAV) control redundancy backup is used for flag and default redundancy based on the active/standby data
The active/standby data that the active/standby data are defined as in effective Backup Data by part mechanism include active/standby flight positioning letter
Breath, active/standby airspeed information and active/standby power state information, wherein, the active/standby GPS unit be used to obtaining it is described nobody
The active/standby flight location information of machine；The active/standby Inertial Measurement Unit is used to obtain the unmanned plane in flight course
Active/standby airspeed information；The active/standby PMU is used for the active/standby power state information for managing the unmanned plane,
Because the flight control units also carry out redundancy backup, therefore the active/standby flight control units are also corresponding active/standby to that should have
Flight control data, such as active/standby rotary speed information, active/standby flight control instruction and active/standby state of flight, to realize to flying
Row control unit FCU, GPS unit, effective backup of Inertial Measurement Unit IMU and PMU PMU data.
Then above-described embodiment of the application, if in CAN activity mass data when, it is contemplated that CAN
Load factor.From the angle of data analysis, movable every frame data correspondence has a unique producer and (produces the frame in CAN
The object of data), correspondence might have multiple consumers (object for needing to use the frame data), the control of the unmanned plane of the application
In system processed, which functional unit is that the producer, which functional unit are consumers（Consumer）Or which functional unit
It is both the producer（Producer）It is consumer again, how many subparameter of parameter group which each functional unit is and accordingly
The way of output, to calculate the load factor size of CAN, the total inorganic nitrogen that the application presets CAN is less than 30%, by
Total inorganic nitrogen, each functional unit data role it is as shown in Figure 3 come the specific distribution form for determining the control system of unmanned plane：
Wherein,
According to the data flow in the control system of the unmanned plane, it can be seen that the GPS unit, Inertial Measurement Unit IMU
High for data producer frequency, requirement of real-time is high, and proportion is larger in the total inorganic nitrogen value of CAN；The electricity
It is data consumer to adjust unit ESC, boat lamp indicating member LED, and less, frequency is relatively low, and periodicity requirements are more tight for data volume
Lattice；The data transmission unit DTU, flight control units FCU, PMU PMU are the producer, consumer；Consider
During Redundancy Design, it is standby that Inertial Measurement Unit IMU, GPS unit, flight control units FCU, PMU PMU provide redundancy
Part, if all functional units are interconnected in a CAN, total inorganic nitrogen can be caused too high, have influence on the real-time of bus
Property, also it is unfavorable for later stage extension, while the reliability of system can be also reduced, so being provided in the control system of unmanned plane double
CAN.According to factors such as function, bus traffic size of the different function units in control system, to determine CAN
The specific topological form of bus.
For example, according to each functional unit of unmanned plane in whole control system importance, existed according to each functional unit
Active data volume size and periodicity in CAN, while in view of the load factor problem of CAN, by the control of unmanned plane
System processed marks off two separate CANs, respectively high-speed CAN bus and low speed CAN, therefore superfluous in unmanned plane
CAN physical layer described in remaining system includes separate dual CAN bus interface, using T-shaped topological form, respectively first
CAN interface and the second CAN interface, wherein, first CAN interface is 1000Kbit/s interface（It is i.e. high
Fast CAN interface CAN1）, second CAN interface is 250Kbit/s interface（That is low speed CAN CAN2）, point
Do not meet the codes and standards on physical layer in ISO11898 (high speed) and ISO11519 (low speed).
Then in the unmanned aerial vehicle (UAV) control redundancy backup in above-described embodiment of the application, unmanned plane redundant system, it is contemplated that
The data volume that Inertial Measurement Unit IMU and GPS unit are provided is big and periodicity output frequency is high (200Hz), and is providing inertia
Measuring unit IMU and during GPS unit volume redundancy backup, the data volume of CAN is bigger, and the load factor of CAN can be into multiplication
Plus, therefore in the embodiment of the present application, the active/standby Inertial Measurement Unit and the active/standby GPS unit pass through the first CAN
EBI（That is high-speed CAN bus interface CAN1）It is corresponding with the active/standby flight control units respectively to interconnect and be
1000Kbit/s Bus Speed；Other functional units in unmanned plane are such as：PMU PMU, the electricity of unmanned plane adjust single
First ESC, the data transmission unit DTU of unmanned plane and unmanned plane boat lamp indicating member LED pass through second CAN respectively
Interface（That is low speed CAN interface CAN2）Respectively it is corresponding with the flight control units interconnection and for 250Kbit/s bus
Speed, wherein, real-time active/standby PMU PMU passes through second CAN interface（That is low speed CAN interface
CAN2）It is corresponding with the active/standby flight control units respectively to connect.
Then above-described embodiment of the application, the unmanned aerial vehicle (UAV) control redundancy backup is Hot Spare, i.e. unmanned plane redundancy is standby
Active/standby flight control units, active/standby GPS unit, active/standby Inertial Measurement Unit and active/standby PMU in part are all
Advocate peace standby while the Hot Spare form of work, it is to avoid cold standby produces non-controllable risk when switching.Wherein advocate peace for the number obtained
According to validity determined by the default redundancy backup mechanism.
Then above-described embodiment of the application, described if the default redundancy backup mechanism is autocontrol handover mechanism
Unmanned aerial vehicle (UAV) control redundancy backup be used for the flag based on the autocontrol handover mechanism and the active/standby data from the master/
Effective Backup Data is selected in standby data.Here, the autocontrol handover mechanism be it is main and standby between mutually communicate, by them it
Between determine that who exits (using Hot Spare mode), third party's ruling unit is not related to determine which data between active and standby part
Effective Backup Data, reduces exploitation third party's ruling unit value and technical risk, it is to avoid the high wind of whole system reliability
Danger point concentrate on third party's ruling unit, wherein the distributed architecture of the CAN CAN physical layer, data link layer with
And CAN protocol layer (ruling switches active/standby mechanism), provided for autocontrol handover mechanism and realize flexibility, reasonability；For example
If the main flight location information that the main GPS unit is obtained is LIt is main, the standby flight location information that the standby GPS unit is obtained is
LIt is standby, wherein flag bit master and back-up do not distinguish that the flight location information is that main GPS unit is obtained or standby GPS unit is obtained
, and according to main GPS unit with which determines for factors such as the respective load of GPS unit, message transmission rate and periodicity
Flight location information is effective Backup Data；Further, if load, message transmission rate and the cycle of the standby GPS unit
Property isopreference in main GPS unit, then autocontrol determines that main GPS unit is exited between active/standby GPS unit, that is, determines standby GPS unit
The standby flight location information L obtainedIt is standbyFor aerial flight location information, the autocontrol between main GPS unit and standby GPS unit is realized
Switching, to ensure the reliability of whole system.
Then above-described embodiment of the application, if the default redundancy backup mechanism is redundancy arbitration mechanism, the nothing
Human-machine Control redundancy backup is used for the flag based on redundancy arbitration mechanism and the active/standby data from the active/standby data
Select effective Backup Data.
For example, the redundancy arbitration mechanism is as shown in figure 4, using " being suspicious and resentful chain " form, and to each selected redundancy
Backup object（Such as flight control units, GPS unit, Inertial Measurement Unit and PMU）Well-defined arbitration will
Element（Such as message transmission rate, periodicity and requirement of real-time）, determine that master data has by the arbitration key element confidence level
Effect or standby data are effective.There is main Inertial Measurement Unit IMU and standby inertia in redundancy backup in such as Inertial Measurement Unit IMU
Two sets of measuring unit IMU, the main Inertial Measurement Unit IMU and standby Inertial Measurement Unit IMU are data producers
（Producer）, used for flight control units FCU, flight control units FCU is used as data consumer（Consumer）, its
In, data consumer is with access to redundancy arbitration mechanism, and which number the arbitration factor ruling according to redundancy backup object uses
According to as effective Backup Data, certainly, in the control system of the unmanned plane, functional unit had both been probably arbitrator, also might be used
Can, by arbitrator, mainly depend on the data flow of CAN, as shown in figure 3, flight control units FCU is both arbitrator,
It is by arbitrator.For example, when flight control units FCU is arbitrator, redundancy backup object be main Inertial Measurement Unit IMU and
It is standby, if the standby airspeed information that flight control units FCU selects the standby Inertial Measurement Unit IMU by redundancy arbitration mechanism is
Effective Backup Data, then according to standby airspeed information FIt is standbyFlag：" standby ", which is determined, transmits to FCU pairs of flight control units
The effective Backup Data answered（Effective airspeed information）For standby airspeed information FIt is standby, and then realization arbitrates machine by redundancy
System selects effective Backup Data.
In summary, a kind of unmanned plane redundant system based on CAN that the application is provided is realized simple in physical form
Easily, reliably, with larger flexibility, autgmentability and industrial utility value.
In summary, the application is by a kind of unmanned plane redundant system based on CAN of offer, including：CAN physics
Layer, the CAN physical layer includes CAN interface, and CAN interface is used in the control system of the unmanned plane, reduces
Unmanned plane internal wiring so that the unit of the control system connected by CAN can be easy to system with separate
Cut, it is ensured that the control system of unmanned plane it is simple clear so that implemented between each unit easily reliable；Respectively with it is described
The CAN protocol layer and unmanned aerial vehicle (UAV) control redundancy backup of CAN interface connection；The CAN protocol layer is used for preset unmanned plane control
The flag of active/standby data in redundancy backup processed, the unmanned aerial vehicle (UAV) control redundancy backup is used for based on the active/standby data
The active/standby data are defined as effective Backup Data by flag and default redundancy backup mechanism, to realize to unmanned plane
The redundancy backup of control system, it is to avoid caused delay machine and loss of data etc. after exception occurs in the control system of unmanned plane, and then
Improve the reliability of the control system of unmanned plane.Wherein, the unmanned aerial vehicle (UAV) control redundancy backup includes active/standby flight control list
Member, pass through the CAN interface active/standby GPS unit of connection corresponding with the active/standby flight control units, active/standby respectively
Inertial Measurement Unit and active/standby PMU；The active/standby flight control units are used for mono- according to the active/standby GPS
Effective Backup Data that first, active/standby Inertial Measurement Unit and active/standby PMU are obtained controls the flight of the unmanned plane
State, realizes effective control to unmanned plane.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt
Use application specific integrated circuit（ASIC）, general purpose computer or any other similar hardware device realize.In one embodiment
In, the software program of the application can realize steps described above or function by computing device.Similarly, the application
Software program（Including related data structure）It can be stored in computer readable recording medium storing program for performing, for example, RAM memory,
Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the application can employ hardware to realize, example
Such as, as coordinating with processor so as to performing the circuit of each step or function.
In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer is performed, by the operation of the computer, it can call or provide according to the present processes and/or technical scheme.
And the programmed instruction of the present processes is called, it is possibly stored in fixed or moveable recording medium, and/or pass through
Broadcast or the data flow in other signal bearing medias and be transmitted, and/or be stored according to described program instruction operation
In the working storage of computer equipment.Here, including a device according to one embodiment of the application, the device includes using
In the memory and processor for execute program instructions of storage computer program instructions, wherein, when the computer program refers to
When order is by the computing device, method and/or skill of the plant running based on foregoing multiple embodiments according to the application are triggered
Art scheme.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present application is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the application.Any reference in claim should not be considered as to the claim involved by limitation.This
Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table
Show title, and be not offered as any specific order.
Claims (11)
1. a kind of unmanned plane redundant system based on CAN, it is characterised in that including：
CAN physical layer, the CAN physical layer includes CAN interface；
The CAN protocol layer and unmanned aerial vehicle (UAV) control redundancy backup being connected respectively with the CAN interface；
The flag for the active/standby data that the CAN protocol layer is used in preset unmanned aerial vehicle (UAV) control redundancy backup, the unmanned plane control
Redundancy backup processed is used for flag and default redundancy backup mechanism based on the active/standby data, and the active/standby data are true
It is set to effective Backup Data；
The unmanned aerial vehicle (UAV) control redundancy backup include active/standby flight control units, by the CAN interface respectively with it is described
Active/standby GPS unit, active/standby Inertial Measurement Unit and the active/standby PMU of active/standby flight control units correspondence connection；
The active/standby flight control units are used for according to the active/standby GPS unit, active/standby Inertial Measurement Unit and active/standby power supply pipe
Manage the state of flight for effective Backup Data control unmanned plane that unit is obtained.
2. the unmanned plane redundant system according to claim 1 based on CAN, it is characterised in that the unmanned plane control
Redundancy backup processed is Hot Spare.
3. the unmanned plane redundant system according to claim 1 based on CAN, it is characterised in that the active/standby data
Including active/standby flight location information, active/standby airspeed information and active/standby power state information, wherein,
The active/standby GPS unit is used for the active/standby flight location information for obtaining the unmanned plane；
The active/standby Inertial Measurement Unit is used to obtain active/standby airspeed information of the unmanned plane in flight course；
The active/standby PMU is used for the active/standby power state information for managing the unmanned plane.
4. the unmanned plane redundant system according to claim 3 based on CAN, it is characterised in that the flying speed
Information includes flying angle speed, Flight Acceleration.
5. the unmanned plane redundant system according to claim 1 based on CAN, it is characterised in that if described default
Redundancy backup mechanism is autocontrol handover mechanism, and the unmanned aerial vehicle (UAV) control redundancy backup is used to be based on the autocontrol handover mechanism
With the flag of the active/standby data effective Backup Data is selected from the active/standby data.
6. the unmanned plane redundant system according to claim 1 based on CAN, it is characterised in that if described default
Redundancy backup mechanism is redundancy arbitration mechanism, and the unmanned aerial vehicle (UAV) control redundancy backup is used to be based on redundancy arbitration mechanism and described
The flag of active/standby data selects effective Backup Data from the active/standby data.
7. the unmanned plane redundant system based on CAN according to claim 1 to 6, it is characterised in that the CAN things
Managing layer includes separate dual CAN bus interface, respectively the first CAN interface and the second CAN interface, wherein,
The active/standby Inertial Measurement Unit and the active/standby GPS unit by first CAN interface respectively with it is described
Active/standby flight control units correspondence is connected,
The active/standby PMU by second CAN interface respectively with the active/standby flight control units pair
It should connect.
8. the unmanned plane redundant system according to claim 7 based on CAN, it is characterised in that also include：Unmanned plane
Boat lamp indicating member, wherein,
The boat lamp indicating member is connected by second CAN interface with the active/standby flight control units, for obtaining
Take state of flight and instruction of the unmanned plane in flight course.
9. the unmanned plane redundant system according to claim 7 based on CAN, it is characterised in that also include：Unmanned plane
Electricity adjust unit, wherein,
The electricity adjusts unit to be connected by second CAN interface with the active/standby flight control units, for obtaining
State the rotary speed information of the power brushless electric machine of unmanned plane and be sent to the active/standby flight control units；
The active/standby flight control units are used for the rotating speed that the brushless electric machine is adjusted based on the rotary speed information.
10. the unmanned plane redundant system according to claim 7 based on CAN, it is characterised in that also include：Nobody
The data transmission unit of machine, wherein,
The data transmission unit is connected by second CAN interface with the active/standby flight control units, for connecing
The flight control instruction to the unmanned plane that ground or controller are sent is received, the active/standby flight control units are based on described
Flight control instruction adjusts the offline mode of the unmanned plane.
11. the unmanned plane redundant system according to claim 10 based on CAN, it is characterised in that the data are passed
Defeated unit is additionally operable to：The current flight parameter information of the unmanned plane is sent to ground.
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