CN110632863B - Unmanned aerial vehicle data transmission method and device - Google Patents
Unmanned aerial vehicle data transmission method and device Download PDFInfo
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- CN110632863B CN110632863B CN201810660386.7A CN201810660386A CN110632863B CN 110632863 B CN110632863 B CN 110632863B CN 201810660386 A CN201810660386 A CN 201810660386A CN 110632863 B CN110632863 B CN 110632863B
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Abstract
The invention discloses a method and a device for data transmission of an unmanned aerial vehicle, and relates to the technical field of computers. One embodiment of the method comprises: sending data to be processed to a plurality of flight control processors; receiving a plurality of processing results returned by the plurality of flight control processors; dividing a plurality of received processing results into at least one processing result group, wherein each processing result group comprises one processing result or a plurality of same processing results; and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group. The embodiment of the invention can improve the reliability and effectiveness of the output processing result, further improve the performance and safety of the unmanned aerial vehicle, and solve the problem of low data reliability caused by the fact that data can only be sent to one flight control processor for processing in the prior art.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for data transmission of an unmanned aerial vehicle.
Background
In the prior art, when the unmanned aerial vehicle processes data sent by the sensor, the data is calculated by a single flight control system, namely, a flight control processor. Specifically, one flight control processor is determined from the plurality of flight control processors to be a primary flight control processor, and the other flight control processors are standby flight control processors. And after receiving the data to be processed, sending the data to be processed to the main flight control processor. When the main flight control processor has problems and can not process data, one main flight control computer is determined from other standby flight control processors to process data.
The flight control processor is the core part of the unmanned aerial vehicle and plays a decisive role in the performance and safety of the airplane. The modern advanced airplane has the disadvantages of complex and huge system structure, relatively severe flying environment, strict requirements on airplane performance, long endurance time, high flying height, advanced function, autonomous flying in the whole process and adoption of a digital computer control system. Due to these features, the probability of flight control processor failure during the performance of a mission can be greatly increased. If the processing result is abnormal due to the occurrence of a fault and the result of the abnormality is sent to the steering engine controller, the flight is affected. A single flight control processor processes data, the correctness of a processing result cannot be guaranteed, and the performance and the safety of the unmanned aerial vehicle can be further influenced.
Disclosure of Invention
In view of this, embodiments of the present invention provide a method and an apparatus for data transmission of an unmanned aerial vehicle, which can improve reliability and validity of an output processing result, thereby improving performance and security of the unmanned aerial vehicle, and solving a problem of low data reliability caused by that data can only be sent to or received from one flight control processor in the prior art.
In order to achieve the above object, according to an aspect of the embodiments of the present invention, a method for data transmission of an unmanned aerial vehicle is provided.
The data transmission method for the unmanned aerial vehicle comprises the following steps: sending data to be processed to a plurality of flight control processors; receiving a plurality of processing results returned by the plurality of flight control processors; dividing a plurality of received processing results into at least one processing result group, wherein each processing result group comprises one processing result or a plurality of same processing results; and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group.
Optionally, the step of dividing the received plurality of processing results into at least one processing result group, and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group includes: confirming that the received multiple processing results are isomorphic data; dividing a plurality of processing results which are isomorphic data into at least one processing result group; confirming that the number of processing results in all the processing result groups is not identical, and taking the processing result in the processing result group with the largest number as an output result.
Optionally, the step of receiving a plurality of processing results returned by the plurality of flight control processors comprises: setting the time of receiving the first processing result as a time starting point; and receiving a plurality of processing results returned by the plurality of flight control processors according to the time starting point and a preset time period.
Optionally, before sending the data to be processed to the plurality of flight control processors, the method further includes: receiving first initial data and second initial data which are respectively sent by a sensor through a main channel and a standby channel; determining the arrival sequence of the first initial data and the second initial data according to the sequence numbers in the frame structures of the first initial data and the second initial data; determining data to be processed from the first initial data and the second initial data according to the arrival sequence;
after dividing the received plurality of processing results into at least one processing result group and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group, the method further includes: and sending the output result to a main channel and a standby channel which are connected with a steering engine controller.
Optionally, receiving first initial data and second initial data sent by the sensor through the main channel and the standby channel respectively through the isolated serial port and the isolated digital IO;
and transmitting the output result to a main channel and a standby channel connected with the steering engine controller through an isolated serial port and an isolated digital IO.
In order to achieve the above object, according to another aspect of the embodiments of the present invention, an apparatus for data transmission of a drone is provided.
The data transmission device of the unmanned aerial vehicle comprises: the data to be processed sending module is used for sending the data to be processed to the plurality of flight control processors; the processing result receiving module is used for receiving a plurality of processing results returned by the flight control processors; the screening module is used for dividing the received multiple processing results into at least one processing result group, wherein each processing result group comprises one processing result or a plurality of same processing results; and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group.
Optionally, the screening module is further configured to confirm that the received multiple processing results are isomorphic data; dividing a plurality of processing results which are isomorphic data into at least one processing result group; confirming that the number of processing results in all the processing result groups is not identical, and taking the processing result in the processing result group with the largest number as an output result.
Optionally, the processing result receiving module is further configured to set a time when the first processing result is received as a time starting point; and receiving a plurality of processing results returned by the plurality of flight control processors according to the time starting point and a preset time period.
Optionally, the device for data transmission of the unmanned aerial vehicle in the embodiment of the present invention further includes a to-be-processed data receiving module and an output result sending module;
the data receiving module to be processed is used for receiving first initial data and second initial data which are respectively sent by the sensor through the main channel and the standby channel; determining the arrival sequence of the first initial data and the second initial data according to the sequence numbers in the frame structures of the first initial data and the second initial data; determining data to be processed from the first initial data and the second initial data according to the arrival sequence;
and the output result sending module is used for sending the output result to a main channel and a standby channel which are connected with the steering engine controller.
Optionally, the to-be-processed data receiving module receives first initial data and second initial data which are respectively sent by a main channel and a standby channel through an isolated serial port and an isolated digital IO sensor;
and the output result sending module sends the output result to a main channel and a standby channel which are connected with the steering engine controller through an isolated serial port and an isolated digital IO.
To achieve the above object, according to still another aspect of the embodiments of the present invention, an electronic device for data transmission of an unmanned aerial vehicle is provided.
The electronic equipment for unmanned aerial vehicle data transmission of the embodiment of the invention comprises: one or more processors; a storage device configured to store one or more programs that, when executed by the one or more processors, cause the one or more processors to implement the method for drone data transmission of any of the above.
To achieve the above object, according to a further aspect of the embodiments of the present invention, there is provided a computer readable medium having a computer program stored thereon, wherein the program is configured to implement the method for data transmission of a drone of any one of the above when executed by a processor.
One embodiment of the above invention has the following advantages or benefits: the method and the device can send the data to be processed to the flight control processors and receive a plurality of processing results returned by the flight control processors, and different from the prior art which only depends on one processing result and sends the processing result to the aircraft controller, the method and the device determine the output result from the plurality of processing results according to the difference of the plurality of processing results. The reliability and the validity of the processing result are improved, the safety of the unmanned aerial vehicle is guaranteed, and the problem that the reliability of data is low due to the fact that the data can be sent or received to one flight control processor in the prior art is solved.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic diagram of a main flow of a method of drone data transmission according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a multiprocessor flight control system framework according to an embodiment of the invention;
FIG. 3 is a schematic diagram of a multiprocessor flight control system framework according to an embodiment of the invention;
fig. 4 is a schematic diagram of the main modules of an apparatus for data transmission of a drone according to an embodiment of the invention;
FIG. 5 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
fig. 6 is a schematic block diagram of a computer system suitable for use in implementing a terminal device or server of an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of a main flow of a method for data transmission by an unmanned aerial vehicle according to an embodiment of the present invention, and as shown in fig. 1, the method for data transmission by an unmanned aerial vehicle according to an embodiment of the present invention mainly includes:
step S101: the data to be processed is sent to a plurality of flight control processors. Compared with the prior art that the data to be processed is sent to one flight control processor, the technical scheme is that the data to be processed is sent to a plurality of flight control processors, and the correctness of the processing result can be ensured through the judgment of the processing result in the follow-up process.
Before the step, receiving first initial data and second initial data which are respectively sent by a sensor through a main channel and a standby channel; determining the arrival sequence of the first initial data and the second initial data according to the sequence numbers in the frame structures of the first initial data and the second initial data; and determining the data to be processed from the first initial data and the second initial data according to the arrival sequence. The data output of each sensor is provided with a main channel and a standby channel, and when the data from the sensors are received, the data of the main channel and the data of the standby channel can be received simultaneously. And the sequence of the data frames is judged according to the serial numbers in the data frame structure, the validity of the data can be judged according to the check codes of the data, the repeated data is abandoned, and the effective data which arrives at first is determined as the data to be sent to the flight computer. The sensor sends data through the main channel and the standby channel, and when one of the channels breaks down, the data can still be normally output, so that the reliability of data transmission is improved.
Step S102: and receiving a plurality of processing results returned by the flight control processors. And after receiving the data to be processed, the flight control processors respectively perform calculation processing. And after the calculation processing is finished, returning the calculated processing results respectively. Specifically, the time for receiving the first processing result is set as a time starting point; and receiving a plurality of processing results returned by the flight control processors according to the time starting point and the preset time period. For example, if the time point at which the first processing result is received is taken as a time starting point and the preset time period is 7 seconds, the processing results received within 7 seconds from the time starting point are screened, and the processing results received after 7 seconds do not participate in screening of the output results. The preset time may be set according to a performance requirement or an empirical value, for example, the performance of the flight control processor corresponding to the processing result received after 7 seconds is lower than that of the flight control processor corresponding to the processing result received before 7 seconds, and the probability of the processing result error is higher.
Step S103: determining an output result from the plurality of processing results according to the difference of the plurality of processing results, and dividing the plurality of received processing results into at least one processing result group, wherein each processing result group comprises one processing result or a plurality of same processing results; and determining an output result from the plurality of processing results according to the number of processing results included in each of the processing result groups. Specifically, the received multiple processing results are confirmed to be isomorphic data; dividing a plurality of processing results which are isomorphic data into at least one processing result group; confirming that the number of processing results in all the processing result groups is not identical, and taking the processing result in the processing result group with the largest number as an output result. And, the processing results in the other processing result groups may be further marked as anomalous results, and the anomalous results may be further removed. According to the marked abnormal result, the calculation efficiency and the error rate of the flight control processors can be counted.
In the embodiment of the present invention, each flight control processor uses the same flight control algorithm and the same hardware platform, and under the condition that the input amount of each flight control processor is the same, the data processed by each flight control processor is isomorphic data. For multiple flight control processors using the same flight control algorithm and the same hardware platform, the calculated processing results should be consistent in principle, with the same output. If one or more flight control processors fail, the calculated results should not be consistent with the processing results of other normal flight control processors. Even more, the speed of the processing result calculated by the fault flight control processor should be slower than the calculation speed of other normal flight control processors. Therefore, when receiving data, in order to guarantee the correctness of the received processing result, a plurality of processing results returned by the flight control processors are received according to the time starting point and the preset time period. And, the received multiple processing results are screened, and an output result can be determined from the multiple processing results according to the principle that 'a few obeys most'.
And if the number of the processing results in all the processing result groups is not completely the same, the processing result group with the largest number of the processing results cannot be selected, and at the moment, alarm processing can be performed to prompt that the processing results cannot be sent to the steering engine controller.
After dividing the received plurality of processing results into at least one processing result group and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group, the method further includes: and sending the output result to a main channel and a standby channel which are connected with the steering engine controller. In the embodiment of the invention, first initial data and second initial data which are respectively sent by a main channel and a standby channel through an isolation serial port and an isolation digital IO receiving sensor are received; and the output result is sent to a main channel and a standby channel which are connected with the steering engine controller through an isolated serial port and an isolated digital IO. The isolated digital IO refers to a switching value signal. The serial interface is called a serial port for short, and is also called a serial communication interface or a serial communication interface (generally referred to as a COM interface), and is an extended interface adopting a serial communication mode. Serial Interface (Serial Interface) refers to data transmission sequentially bit by bit, and is characterized by simple communication line, and only one pair of transmission lines can realize bidirectional communication (telephone lines can be directly used as transmission lines). The isolation is to prevent the introduction of interference, and a significant interference signal is often induced on a line in long-line communication, and there may be a difference in reference ground potential, system noise and tolerance, etc. between two communication parties, and these factors affecting the system after the isolation will be intercepted to a great extent.
According to the embodiment of the invention, the data to be processed can be sent to the plurality of flight control processors, the plurality of processing results returned by the plurality of flight control processors can be received, and the output result can be determined from the plurality of processing results through the difference of the plurality of processing results. The reliability and the validity of the processing result are improved, the safety of the unmanned aerial vehicle is guaranteed, and the problem that the reliability of data is low due to the fact that the data can be sent or received to one flight control processor in the prior art is solved.
FIG. 2 is a schematic diagram of a multiprocessor flight control system framework according to an embodiment of the invention. As shown in fig. 2, the multiprocessor flight control system framework according to the embodiment of the present invention mainly includes: unmanned aerial vehicle data transmission module, a plurality of flight control treater and sensor, steering engine controller. The unmanned aerial vehicle data transmission module is connected with the plurality of flight control processors through isolation interfaces, and is connected with a main channel and a standby channel which are communicated with the sensor and the steering engine controller through the isolation interfaces.
The data transmission module of the unmanned aerial vehicle can receive signals of multiple sensors through the isolation interface. Each sensor output has a main channel and a standby channel, the unmanned aerial vehicle data transmission module receives data of the main channel and the standby channel at the same time, judges the sequence of data frames according to serial numbers in a data frame structure, judges the validity of the data according to check codes of the data, and sends the valid data which arrives at first to the flight control processor for data processing.
The unmanned aerial vehicle data transmission module can receive the processing results returned by the multi-channel flight control processor through the isolation interface, screen the processing results and send the screened results to the steering engine controller. In the embodiment of the invention, each flight control processor adopts the same flight control algorithm and the same hardware platform, and under the condition of the same input quantity, the processing results of the flight control processors should be consistent in principle.
In the process of screening the processing results returned by the flight control processors, the time of the processing results received by the data transmission module of the unmanned aerial vehicle at first is taken as a time starting point, the maximum time length is selected according to engineering experience to set a time period for receiving effective data, the processing results of the flight control processors received in the time length are compared, and the consistent processing results sent by most of the flight control processors are sent to the steering engine controller. And marking the flight control processor corresponding to the processing result which is not selected or overtime each time, counting the marked frequency of each flight control processor, and checking, correcting or removing the flight control processor with higher frequency.
FIG. 3 is a schematic diagram of a multiprocessor flight control system framework according to an embodiment of the invention. As shown in fig. 3, the multiprocessor flight control system in the embodiment of the present invention employs dual power supplies, and the main power supply and the standby power supply can be switched by the power supply switching circuit, and can be seamlessly switched to the standby power supply after the main power supply fails, thereby ensuring continuous and reliable operation of the system. In the embodiment of the invention, the processor of the unmanned aerial vehicle data transmission module adopts an anti-fuse structure FPGA, and the FPGA has extremely high reliability. An FPGA (Field-Programmable Gate Array), which is a product of further development based on Programmable devices such as PAL, GAL, CPLD, etc. The circuit is a semi-custom circuit in the field of Application Specific Integrated Circuits (ASIC), not only overcomes the defects of the custom circuit, but also overcomes the defect that the number of gate circuits of the original programmable device is limited.
The sensor and the steering engine controller are respectively connected with an isolation interface of the unmanned aerial vehicle data transmission module, and the sensor and the steering engine controller are connected with the isolation interface of the unmanned aerial vehicle data transmission module through a group of main channels and standby channels. The isolated digital IO refers to a switching value signal, and the serial port can be a level signal interface such as RS 422. The isolation interface comprises a switching value interface and a serial port. In the embodiment of the invention, the sensor is provided with at least four serial ports and two IO ports, and the steering engine is provided with four serial ports and two IO ports. In the embodiment of the invention, all the interfaces have a self-checking function, and the self-checking work can be carried out before flight, so that the reliability of the communication interfaces is ensured.
Fig. 4 is a schematic diagram of main modules of an apparatus for data transmission of a drone according to an embodiment of the present invention, and as shown in fig. 4, the apparatus 400 for data transmission of a drone according to an embodiment of the present invention includes a to-be-processed data sending module 401, a processing result receiving module 402, and a screening module 403.
The to-be-processed data sending module 401 is configured to send the to-be-processed data to a plurality of flight control processors.
The processing result receiving module 402 is configured to receive a plurality of processing results returned by the plurality of flight control processors. The processing result receiving module is also used for setting the time for receiving the first processing result as a time starting point; and receiving a plurality of processing results returned by the flight control processors according to the time starting point and the preset time period.
The screening module 403 is configured to divide the received multiple processing results into at least one processing result group, where each processing result group includes one processing result or multiple same processing results; and determining an output result from the plurality of processing results according to the number of processing results included in each of the processing result groups. The screening module is also used for confirming that the received multiple processing results are isomorphic data; dividing a plurality of processing results which are isomorphic data into at least one processing result group; confirming that the number of processing results in all the processing result groups is not identical, and taking the processing result in the processing result group with the largest number as an output result.
The device for data transmission of the unmanned aerial vehicle further comprises a to-be-processed data receiving module and an output result sending module. The data receiving module to be processed is used for receiving first initial data and second initial data which are respectively sent by the sensor through the main channel and the standby channel; determining the arrival sequence of the first initial data and the second initial data according to the sequence numbers in the frame structures of the first initial data and the second initial data; and determining the data to be processed from the first initial data and the second initial data according to the arrival sequence. And the output result sending module is used for sending the output result to a main channel and a standby channel which are connected with the steering engine controller. The to-be-processed data receiving module receives first initial data and second initial data which are respectively sent by a main channel and a standby channel through an isolation serial port and an isolation digital IO (input/output) receiving sensor; and the output result sending module sends the output result to a main channel and a standby channel which are connected with the steering engine controller through an isolated serial port and an isolated digital IO.
According to the embodiment of the invention, the data to be processed can be sent to the plurality of flight control processors, the plurality of processing results returned by the plurality of flight control processors can be received, and the output result can be determined from the plurality of processing results through the difference of the plurality of processing results. The reliability and the validity of the processing result are improved, the safety of the unmanned aerial vehicle is guaranteed, and the problem that the reliability of data is low due to the fact that the data can be sent or received to one flight control processor in the prior art is solved.
Fig. 5 illustrates an exemplary system architecture 500 of a method of drone data transmission or an apparatus of drone data transmission to which embodiments of the present invention may be applied.
As shown in fig. 5, the system architecture 500 may include terminal devices 501, 502, 503, a network 504, and a server 505. The network 504 serves to provide a medium for communication links between the terminal devices 501, 502, 503 and the server 505. Network 504 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The user may use the terminal devices 501, 502, 503 to interact with a server 505 over a network 504 to receive or send messages or the like. The terminal devices 501, 502, 503 may have installed thereon various communication client applications, such as shopping-like applications, web browser applications, search-like applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).
The terminal devices 501, 502, 503 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 505 may be a server providing various services, such as a background management server (for example only) providing support for shopping websites browsed by users using the terminal devices 501, 502, 503. The background management server can analyze and process the received data such as the product information inquiry request and feed back the processing result to the terminal equipment.
It should be noted that the method for data transmission by a drone provided by the embodiment of the present invention is generally executed by the server 505, and accordingly, the device for data transmission by a drone is generally disposed in the server 505.
It should be understood that the number of terminal devices, networks, and servers in fig. 5 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Referring now to FIG. 6, a block diagram of a computer system 600 suitable for use with a terminal device implementing an embodiment of the invention is shown. The terminal device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU)601 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, a mouse, and the like; an output portion 607 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The driver 610 is also connected to the I/O interface 605 as needed. A removable medium 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 610 as necessary, so that a computer program read out therefrom is mounted in the storage section 608 as necessary.
In particular, according to the embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 609, and/or installed from the removable medium 611. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 601.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor comprises a to-be-processed data sending module, a processing result receiving module and a screening module. The names of these modules do not in some cases constitute a limitation on the modules themselves, for example, the pending data transmission module may also be described as a "module that transmits pending data to a plurality of flight control processors".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: sending data to be processed to a plurality of flight control processors; receiving a plurality of processing results returned by a plurality of flight control processors; dividing a plurality of received processing results into at least one processing result group, wherein each processing result group comprises one processing result or a plurality of same processing results; and determining an output result from the plurality of processing results according to the number of processing results included in each of the processing result groups.
According to the embodiment of the invention, the data to be processed can be sent to the plurality of flight control processors, the plurality of processing results returned by the plurality of flight control processors can be received, and the output result can be determined from the plurality of processing results through the difference of the plurality of processing results. The reliability and the validity of the processing result are improved, the safety of the unmanned aerial vehicle is guaranteed, and the problem that the reliability of data is low due to the fact that the data can be sent or received to one flight control processor in the prior art is solved.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (12)
1. A method for data transmission of an Unmanned Aerial Vehicle (UAV), comprising:
sending data to be processed to a plurality of flight control processors;
receiving a plurality of processing results returned by the plurality of flight control processors;
dividing a plurality of received processing results into at least one processing result group, wherein each processing result group comprises one processing result or a plurality of same processing results; and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group.
2. The method of claim 1, wherein dividing the received plurality of processing results into at least one processing result group, and wherein determining an output result from the plurality of processing results based on the number of processing results included in each processing result group comprises:
confirming that the received multiple processing results are isomorphic data;
dividing a plurality of processing results which are isomorphic data into at least one processing result group;
confirming that the number of processing results in all the processing result groups is not identical, and taking the processing result in the processing result group with the largest number as an output result.
3. The method of claim 1, wherein receiving a plurality of processing results returned by the plurality of flight control processors comprises:
setting the time of receiving the first processing result as a time starting point;
and receiving a plurality of processing results returned by the plurality of flight control processors according to the time starting point and a preset time period.
4. The method of claim 1, further comprising, prior to sending data to be processed to a plurality of flight control processors: receiving first initial data and second initial data which are respectively sent by a sensor through a main channel and a standby channel; determining the arrival sequence of the first initial data and the second initial data according to the sequence numbers in the frame structures of the first initial data and the second initial data; determining data to be processed from the first initial data and the second initial data according to the arrival sequence;
after dividing the received plurality of processing results into at least one processing result group and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group, the method further includes: and sending the output result to a main channel and a standby channel which are connected with a steering engine controller.
5. The method according to claim 4, characterized in that the first initial data and the second initial data sent by the sensor through the main channel and the standby channel are received through an isolated serial port and an isolated digital IO;
and transmitting the output result to a main channel and a standby channel connected with the steering engine controller through an isolated serial port and an isolated digital IO.
6. An unmanned aerial vehicle data transmission's device which characterized in that includes:
the data to be processed sending module is used for sending the data to be processed to the plurality of flight control processors;
the processing result receiving module is used for receiving a plurality of processing results returned by the flight control processors;
the screening module is used for dividing the received multiple processing results into at least one processing result group, wherein each processing result group comprises one processing result or a plurality of same processing results; and determining an output result from the plurality of processing results according to the number of processing results included in each processing result group.
7. The apparatus of claim 6, wherein the filtering module is further configured to confirm the received plurality of processing results as isomorphic data; dividing a plurality of processing results which are isomorphic data into at least one processing result group; confirming that the number of processing results in all the processing result groups is not identical, and taking the processing result in the processing result group with the largest number as an output result.
8. The apparatus of claim 6, wherein the processing result receiving module is further configured to set a time when the first processing result is received as a time starting point; and receiving a plurality of processing results returned by the plurality of flight control processors according to the time starting point and a preset time period.
9. The device of claim 6, further comprising a to-be-processed data receiving module and an output result sending module;
the data receiving module to be processed is used for receiving first initial data and second initial data which are respectively sent by the sensor through the main channel and the standby channel; determining the arrival sequence of the first initial data and the second initial data according to the sequence numbers in the frame structures of the first initial data and the second initial data; determining data to be processed from the first initial data and the second initial data according to the arrival sequence;
and the output result sending module is used for sending the output result to a main channel and a standby channel which are connected with the steering engine controller.
10. The device according to claim 9, wherein the to-be-processed data receiving module receives first initial data and second initial data respectively sent by the sensor through the main channel and the standby channel through the isolated serial port and the isolated digital IO;
and the output result sending module sends the output result to a main channel and a standby channel which are connected with the steering engine controller through an isolated serial port and an isolated digital IO.
11. An electronic equipment for unmanned aerial vehicle data transmission, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
12. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-5.
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