CN110889232A - Weighted average voting method for multi-system redundancy signals considering priority - Google Patents
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Abstract
The invention relates to a weighted average voting method, in particular to a weighted average voting method for considering priority of a multi-system redundancy signal, belonging to the technical field of weighted voting of the redundancy signal. The invention can select the signal with higher comprehensive priority from the redundancy signals among the multiple systems according to the system priority and the signal priority in the system, thereby ensuring the signal used by the system to have higher reliability. Meanwhile, if the signal reliability is reduced due to the dynamic change of the signal, the selected signal is enabled to change steadily among multiple systems through coefficient linear interpolation weighting, and the robustness of signal selection is enhanced.
Description
Technical Field
The invention relates to a weighted average voting method, in particular to a weighted average voting method for considering priority of a multi-system redundancy signal, belonging to the technical field of weighted voting of the redundancy signal.
Background
In multi-system with redundancy signals, such as civil and military aviation and aerospace, in order to select a reliable and accurate signal from the same redundancy signals of the multi-system for system control, arithmetic mean is often adopted, and when the difference between the signals is large, the large value or the low value of the signal is selected or a third party value is adopted for auxiliary voting.
Under normal conditions, the precision and reliability of signals between different systems are different, and in order to ensure that multiple systems all use the same signal with higher precision and reliability, the system priority between the systems and the signal priority inside the systems need to be considered, and the arithmetic mean, the high-low selection and the third-party value auxiliary voting method cannot achieve the purpose.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a weighted average voting method for considering the priority of multi-system redundancy signals, which can select signals with higher comprehensive priority from the multi-system redundancy signals according to the system priority and the signal priority in the system, thereby ensuring the signals used by the system to have higher reliability; when the signal reliability is reduced due to the dynamic change of the signal, the selected signal is enabled to change steadily among multiple systems through coefficient linear interpolation weighting, and the robustness of signal selection is enhanced.
According to the technical scheme provided by the invention, the weighted average voting method of the redundancy signals among the multiple systems by considering the priority comprises the following steps:
step 3, accumulating the pre-weighting coefficients corresponding to the selected reference signals for each reference signal in the reference system sys (N), and selecting the reference signal with the maximum pre-weighting coefficient accumulation sum as a standard signal SigSTD from the PN reference signals;
step 4, for the non-reference Sys systems, calculating quasi-weighting coefficients of all signals in each non-reference Sys system, wherein the quasi-weighting coefficient of each signal is the maximum value of pre-weighting coefficients obtained by comparing the current signal with all reference signals in a reference system Sys (N);
step 5, determining multiplication factors of all signals in the non-reference Sys system according to the priority order among the non-reference Sys systems, the quasi-weighting coefficients corresponding to all signals in the non-reference Sys systems and the standard signal SigSTD, and obtaining the multiplication factors of the standard signal SigSTD; and multiplying each signal in the non-reference Sys system by the corresponding multiplication factor and then accumulating, and multiplying the standard signal SigSTD by the multiplication factor corresponding to the standard signal SigSTD and then accumulating to obtain a weighted average vote value SigSEL of the redundancy signals among the multiple systems in consideration of the priority.
In step 2, when the absolute value of the difference between the signal in the non-reference Sys system and the reference signal in the reference Sys system is greater than Δ Sig1 and less than Δ Sig2, the pre-weighting coefficient corresponding to the current signal in the non-reference Sys system is a linear interpolation between 0 and 1:
where φ is the absolute value of the difference between the signal in the non-reference system Sys system and the reference signal in the reference system.
In step 5, the sum of all multiplication factors is equal to 1;
the multiplication factor k11 of the first highest priority Sig (1) (1) is obtained from the priority order and the weighting factor of each signal: k11 ═ CF 11; the multiplication factor by priority Sig (1) (2) is k12: k12 ═ CF12 (1-CF 11); …, the multiplication factor in the priority order Sig (1) (P1) is k1P 1:
k1P1＝CF1P1*…*(1-CF12)*(1-CF11)；
……
the multiplication factor in the priority order Sig (N-1) (1) is kN _ 11:
kN_11＝CFN_11*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)；
the multiplication factor in the order of priority Sig (N-1) (2) is kN-12:
kN_12＝CFN_12*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)。
…
the multiplication factor by priority Sig (N-1) (PN-1) is kN _1PN _ 1:
kN_1PN_1＝CFN_1PN_1*…*(1-CFN_12)*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)；
the multiplication factor KSTD of the standard signal SigSTD is obtained:
kSTD ═ 1-CFN _1PN _1 × … × (1-CFN _12) × (1-CFN _11) × … … × (1-CF1P1) × … × (1-CF12) (1-CF11) — CFN _12 × (1-CFN _11) × … … (1-CF1P1) × … (1-CF12) ((1-CF 11) — CFN _11 × … … (1-CF1P1) × (1-CF12) ((1-CF 11) — CF1P1 × … × (1-CF12) — (1-CF11) — -CF12 × (1-CF11) — -CF11. Combining the same items to obtain kSTD (1-CFN _1PN _1) … (1-CFN _12) (1-CFN _11) … … (1-CF1P1) … (1-CF12) (1-CF 11);
the weighted average vote value SigSEL of the multi-system redundancy signals considering the priority is as follows:
SigSEL＝k11*Sig(1)(1)+k12*Sig(1)(2)+…+k1P1*Sig(1)(P1)+……+kN_11*Sig(N-1)(1)+kN_12*Sig(N-1)(2)+…+kN_1PN_1*Sig(N-1)(PN-1)+kSTD*SigSTD。
and when all signals in the reference system and all signals in the non-reference system are in failure, the weighted average voting value SigSEL of the redundancy signals among the multiple systems considering the priority is a safe default value.
In step 3, when the weighting coefficients of a plurality of reference signals are the same and the largest, the signal with the highest priority order is selected as the standard signal SigSTD.
The invention has the advantages that: the method can select the signals with higher comprehensive priority from the redundancy signals among the multiple systems according to the system priority and the signal priority in the system, and ensures that the signals used by the system have higher reliability. Meanwhile, if the signal reliability is reduced due to the dynamic change of the signal, the selected signal is enabled to change steadily among multiple systems through coefficient linear interpolation weighting, and the robustness of signal selection is enhanced.
Drawings
FIG. 1 is a diagram illustrating weighted averaging of redundancy signals between systems according to the present invention.
FIG. 2 is a schematic diagram illustrating the calculation of pre-weighting factors according to the present invention.
Detailed Description
The invention is further illustrated by the following specific figures and examples.
As shown in fig. 1: in order to select a signal with higher comprehensive priority from redundancy signals among multiple systems according to the system priority and the signal priority in the system, the signals used by the system are ensured to have higher reliability; when the signal reliability is reduced due to the dynamic change of the signal, the selected signal is enabled to change steadily among multiple systems through coefficient linear interpolation weighting, and the robustness of signal selection is enhanced, the method specifically comprises the following steps:
specifically, due to the system attribute, the equipment environment, the characteristics of the system sensor where the N Sys systems are located, or other reasons that meet specific functional requirements, etc., the inter-system priority order is provided among the N Sys systems, and of course, the inter-system priority order may be set according to the required situation, and the priority order corresponding to Sys (1) ≧ Sys (2) … … ≧ Sys (N) is just one case. Meanwhile, for all signals in the same Sys system, due to the reasons of measuring point positions, sensor characteristics or other use requirements, the signal selection in the system has a priority order in the system, and the priority order in the system can also be selected and sorted according to actual needs, which is known to those skilled in the art and is not described herein again.
specifically, for N Sys systems, one system needs to be selected as a reference system, in the embodiment of the present invention, the Sys (N) with the lowest priority is selected as the reference system, and in the specific implementation, other reference systems may also be selected, which may be specifically selected according to needs, and details are not described here. When the reference system is selected, the rest systems automatically become non-reference systems.
The specific case of the threshold Δ Sig1 and the threshold Δ Sig2 is determined according to the following criteria:
1) when the signal change exceeds Δ Sig1, some associated performance change or swing of the system will exceed the acceptable range. SigSEL selects as the non-reference system signal when the non-reference signal differs from the reference signal of the reference system by less than Δ Sig1, and selects as the signal of the reference system when the non-reference system signal differs from the signal of the reference system by more than Δ Sig 1.
2) In order to avoid the system performance from jumping to cause a step change of system-related performance due to the fact that the difference between the signal of the non-reference system and the signal of the reference system is near delta Sig1, delta Sig2 is set so that the signal of the non-reference system is selected as a non-reference system signal when the difference between the signal of the non-reference system and the signal of the reference system is smaller than delta Sig1, the signal of the non-reference system is selected as a reference system signal when the difference between the signal of the non-reference system and the signal of the reference system is larger than delta Sig2, and the signal of the non-reference system is smoothly transited when the difference between the signal of the non-reference system and the signal of the reference system is changed between delta Sig1 and delta Sig2, so. Δ Sig2 generally results in an acceptable determination of the rate of change of system performance when SigSEL changes by Δ Sig2- Δ Sig1 per unit time.
TABLE 1
Table 1 shows that after comparing absolute difference values of all signals in all non-reference systems and reference systems, corresponding pre-weighting coefficients can be obtained, for example, in the Sig (1) system, after Sig (1) (1) is compared with reference signals Sig (N) (1), pre-weighting coefficients CF11N1 can be obtained, after Sig (1) (1) is compared with reference signals Sig (N) (2), pre-weighting coefficients CF11N2 can be obtained, and the rest can be analogized, where CF11NPN is obtained after Sig (1) (1) is compared with reference signals Sig (N) (pn) to obtain pre-weighting coefficients CF11. For the process of obtaining the corresponding pre-weighting coefficient after comparing the remaining signal with the reference signal, reference is made to the above description, and no one example is given here.
In the embodiment of the present invention, when the absolute value of the difference between the signal in the non-reference Sys system and the reference signal in the reference Sys system is greater than Δ Sig1 and less than Δ Sig2, the pre-weighting coefficient CF' corresponding to the current signal in the non-reference Sys system is a linear interpolation between 0 and 1:
where φ is the absolute value of the difference between the signal in the non-reference system Sys system and the reference signal in the reference system.
Step 3, accumulating the pre-weighting coefficients corresponding to the selected reference signals for each reference signal in the reference system sys (N), and selecting the reference signal with the maximum pre-weighting coefficient accumulation sum as a standard signal SigSTD from the PN reference signals;
from table 1, it can be seen that:
the pre-weighting coefficient corresponding to the reference signal sig (N) (1) and SUMN1 ═ CF11N1+ CF12N1+ … CF1P1N1+ … CFN _11N1+ CFN _12N1+ … CFN _1PN _1N 1.
The pre-weighting coefficient corresponding to the reference signal sig (N) (2) and SUMN2 ═ CF11N2+ CF12N2+ … CF1P1N2+ … CFN _11N2+ CFN _12N2+ … CFN _1PN _1N 2.
As described above, the cumulative sum of the pre-weighting coefficients corresponding to the reference signals sig (n) (3), sig (n) (4) … …, and sig (n) (PN-1) can be obtained in this order.
Similarly, the pre-weighting coefficients and summnpns corresponding to the reference signals sig (n) (PN) CF11NPN + CF12NPN + … CF1P1NPN + … CFN _11NPN, CFN _12NPN + … CFN _1PN _1 NPN.
SigSTD is the reference signal with the greatest correspondence between the pre-weighting factor and SUMN1, SUMN2, … …, SUMNPN. When the weighting coefficients of a plurality of reference signals are the same and the highest, the signal with the highest priority order is selected as the standard signal SigSTD.
Step 4, for the non-reference Sys systems, calculating quasi-weighting coefficients of all signals in each non-reference Sys system, wherein the quasi-weighting coefficient of each signal is the maximum value of pre-weighting coefficients obtained by comparing the current signal with all reference signals in a reference system Sys (N);
in the embodiment of the present invention, as can be seen from the pre-weighting coefficients obtained in table 1, the quasi-weighting coefficients corresponding to the Sig (1) (1) signals are CF11 ═ max (CF11N1, CF11N2, … CF11 NPN).
Similarly, the quasi-weighting coefficients corresponding to the Sig (1) and Sig (2) signals are CF12 ═ max (CF12N1, CF12N2, … CF12 NPN).
The quasi-weighting coefficient corresponding to the Sig (1) (P1) signal is CF1P1 ═ max (CF1P1N1, CF1P1N2, … CF1P1 NPN).
The quasi-weighting factor corresponding to the Sig (N-1) (1) signal is CFN _11 ═ max (CFN _11N1, CFN _11N2, … CFN _11 NPN).
The quasi-weighting factor corresponding to the Sig (N-1) (2) signal is CFN _12 ═ max (CFN _12N1, CFN _12N2, … CFN _12 NPN).
The quasi-weighting coefficient corresponding to the Sig (N-1) (PN-1) signal is CFN _1PN _1 ═ max (CFN _1PN _1N1, CFN _1PN _1N2, … CFN _1PN _1 NPN).
The above signals in table 1 are not fully listed, and may be obtained by referring to the above calculation process, which is well known to those skilled in the art and will not be described herein again.
Step 5, determining multiplication factors of all signals in the non-reference Sys system according to the priority order among the non-reference Sys systems, the quasi-weighting coefficients corresponding to all signals in the non-reference Sys systems and the standard signal SigSTD, and obtaining the multiplication factors of the standard signal SigSTD; and multiplying each signal in the non-reference Sys system by the corresponding multiplication factor and then accumulating, and multiplying the standard signal SigSTD by the multiplication factor corresponding to the standard signal SigSTD and then accumulating to obtain a weighted average vote value SigSEL of the redundancy signals among the multiple systems in consideration of the priority.
In the embodiment of the invention, the sum of all multiplication factors is equal to 1;
the total weighted sum P1+ … + PN-1+1 is the signal of the non-reference system and the standard signal SigSTD, i.e., Sig (1) (1), Sig (1) (2), …, Sig (1) (P1), … …, Sig (N-1) (1), Sig (N-1) (2), …, Sig (N-1) (PN-1) and SigSTD. The priority order obtainable according to the priority order of step 1 is:
sig (1) (1) > Sig (1) (2) > … > Sig (1) (P1) > … … > Sig (N-1) (1) > Sig (N-1) (2) > … > Sig (N-1) (PN-1) > SigSTD. The multiplication factors of the signals are k11, k12, …, k1P1, … …, kN _11, kN _12, …, kN _1PN _1 and kSTD respectively, and the sum of the multiplication factors is equal to 1.
The multiplication factor k11 of the first highest priority Sig (1) (1) is obtained from the priority order and the weighting factor of each signal:
k11＝CF11。
this time left 1-CF 11.
The multiplication factor by priority Sig (1) (2) is k12:
k12＝CF12*(1-CF11)。
this time left 1-CF12 (1-CF11) -CF11.
…
The multiplication factor by priority Sig (1) (P1) is k1P 1:
k1P1＝CF1P1*…*(1-CF12)*(1-CF11)。
this time left 1-CF1P1 × …: (1-CF12) × (1-CF11) -CF 12: (1-CF11) -CF11.
……
The multiplication factor in the priority order Sig (N-1) (1) is kN _ 11:
kN_11＝CFN_11*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)。
at this time, 1-CFN _11 × … … × 1-CF1P1 × … × 1-CF12 × 1-CF11) -CF1P1 × … × 1-CF12 × 1-CF11) -CF12 × 1-CF 11-CF 11 remained.
The multiplication factor in the order of priority Sig (N-1) (2) is kN-12:
kN_12＝CFN_12*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)。
at this time, 1-CFN _12 (1-CFN _11) … … (1-CF1P1) … (1-CF12) 1-CF11) -CFN _11 … … (1-CF1P1) … (1-CF12) (1-CF11) -CF1P1 … (1-CF12) (1-CF11) -CF12 (1-CF11) -CF11 remained.
…
The multiplication factor by priority Sig (N-1) (PN-1) is kN _1PN _ 1:
kN_1PN_1＝CFN_1PN_1*…*(1-CFN_12)*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)。
at this time, 1-CFN _1PN _1 × … (1-CFN _12) × (1-CFN _11) × … (1-CF1P1) × … (1-CF12) × (1-CF11) -CFN _12 (1-CFN _11) × … (1-CF1P1) × … (1-CF12) ((1-CF 11) -CFN _11 × … … (1-CF1P1) × … (1-CF12) ((1-CF 11) -CF1P1 × … (1-CF12) ((1-CF 11) -CF12 (1-CF11) -CF 36 11).
So far, a standard signal SigSTD is left, the multiplication factor of which is kSTD, namely equal to the final remaining factor, and the standard signal SigSTD is obtained
kSTD ═ 1-CFN _1PN _1 × … × (1-CFN _12) × (1-CFN _11) × … … × (1-CF1P1) × … × (1-CF12) (1-CF11) — CFN _12 × (1-CFN _11) × … … (1-CF1P1) × … (1-CF12) ((1-CF 11) — CFN _11 × … … (1-CF1P1) × (1-CF12) ((1-CF 11) — CF1P1 × … × (1-CF12) — (1-CF11) — -CF12 × (1-CF11) — -CF11. After the same items are combined, the kSTD (1-CFN _1PN _1) … (1-CFN _12) (1-CFN _11) … … (1-CF1P1) … (1-CF12) (1-CF11) is obtained.
The weighted average voting algorithm of the multi-system redundancy signals considering the priority is uniformly expressed as follows:
SigSEL＝k11*Sig(1)(1)+k12*Sig(1)(2)+…+k1P1*Sig(1)(P1)+……+kN_11*Sig(N-1)(1)+kN_12*Sig(N-1)(2)+…+kN_1PN_1*Sig(N-1)(PN-1)+kSTD*SigSTD。
namely:
SigSEL＝CF11*Sig(1)(1)+CF12*(1-CF11)*Sig(1)(2)+…+CF1P1*…*(1-CF12)*(1-CF11)*Sig(1)(P1)+
……+CFN_11*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)*Sig(N-1)(1)+CFN_12*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)*Sig(N-1)(2)+…+CFN_1PN_1*…*(1-CFN_12)*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)*Sig(N-1)(PN-1)+(1-CFN_1PN_1)*…*(1-CFN_12)*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)*SigSTD。
to sum up: the weighted average voting method for considering the priority of the multi-system redundancy signals comprises the following steps:
a) when at least one reference system signal is normal and at least one non-reference system signal is normal, the weighted average voting logic is as follows:
1) and when at least one of the weighting coefficients of the non-reference system signals is 1, performing weighted averaging on signals before the first 1 in the priority order, and not performing weighted averaging on the signals after the first 1.
2) And when the weighting coefficients of the non-reference system signals are not equal to 1 and 0, performing weighted average on all the signals.
3) And when the weighting coefficients of the non-reference system signals are all equal to 0, the voting value SigSEL is a SigSTD signal.
b) And when the signals of the non-reference system are all in fault and at least one signal of the reference system is normal, the voting value SigSEL is the arithmetic mean value of the normal signals of the reference system.
c) And when the reference system signals are all in fault and at least one of the other systems is normal, the voting value SigSEL is the arithmetic mean value of the normal signals of the non-reference system.
d) When both the reference system signal and the non-reference system signal fail, the voting value SigSEL is a safe default value, and the default value is generally an initialization value or a pre-failure value or other designated value, which can be specifically determined by those skilled in the art as required.
In specific implementation, when the reference signal of the reference system and the signal of the non-reference system are significantly out of the range of the system signal, the signal is determined to be a fault signal, and the specific manner and process for determining the non-fault signal are well known to those skilled in the art, and are not described herein again.
Claims (5)
1. A weighted average voting method for considering priorities of multi-system redundancy signals is characterized by comprising the following steps:
step 1, for N Sys systems, M Signal signals are shared, each Sys system is at least provided with 1 Signal, N is more than or equal to 2, and M is more than or equal to N; the N Sys systems enable signal selection to have an inter-system priority order, wherein the priority order is as follows: sys (1) is not less than Sys (2) … … is not less than Sys (N); for the x-th system, Px Signal signals (Px is more than or equal to 1) are arranged in a Sys (x) system, and the Px signals enable the selection of the signals in the system to have an internal priority order, wherein the priority order is Sig (x) (1) is more than or equal to Sig (x) (2) … … is more than or equal to Sig (x) (Px), and x is 1 and 2 … … N;
step 2, regarding the N Sys systems, taking the Sys (N) with the lowest priority as a reference system, and taking the rest Sys systems as non-reference systems; comparing the absolute value of the difference between each signal in any non-reference Sys system and each reference signal in the reference Sys (n) with a threshold value Δ Sig1 and a threshold value Δ Sig2 respectively to obtain a pre-weighting coefficient corresponding to each signal in the non-reference Sys system and each reference signal in the reference Sys (n); wherein Δ Sig1< Δ Sig2, the pre-weighting coefficient corresponding to the current signal in the non-reference Sys system is 1 when the absolute value of the difference between the signal in the non-reference Sys system and the reference signal in the reference system is Δ Sig1 or less, the pre-weighting coefficient corresponding to the current signal in the non-reference Sys system is 0 when the absolute value of the difference between the signal in the non-reference Sys system and the reference signal in the reference system is Δ Sig2 or more, and the pre-weighting coefficient corresponding to the current signal in the non-reference Sys system is linear interpolation between 0 and 1 when the absolute value of the difference between the signal in the non-reference Sys system and the reference signal in the reference system is Δ Sig1 and less than Δ Sig 2;
step 3, accumulating the pre-weighting coefficients corresponding to the selected reference signals for each reference signal in the reference system sys (N), and selecting the reference signal with the maximum pre-weighting coefficient accumulation sum as a standard signal SigSTD from the PN reference signals;
step 4, for the non-reference Sys systems, calculating quasi-weighting coefficients of all signals in each non-reference Sys system, wherein the quasi-weighting coefficient of each signal is the maximum value of pre-weighting coefficients obtained by comparing the current signal with all reference signals in a reference system Sys (N);
step 5, determining multiplication factors of all signals in the non-reference Sys system according to the priority order among the non-reference Sys systems, the quasi-weighting coefficients corresponding to all signals in the non-reference Sys systems and the standard signal SigSTD, and obtaining the multiplication factors of the standard signal SigSTD; and multiplying each signal in the non-reference Sys system by the corresponding multiplication factor and then accumulating, and multiplying the standard signal SigSTD by the multiplication factor corresponding to the standard signal SigSTD and then accumulating to obtain a weighted average vote value SigSEL of the redundancy signals among the multiple systems in consideration of the priority.
2. The method for weighted average voting according to claim 1, wherein in step 2, when the absolute value of the difference between the signal in the non-reference Sys system and the reference signal in the reference system is greater than Δ Sig1 and less than Δ Sig2, the pre-weighting coefficient corresponding to the current signal in the non-reference Sys system is linearly interpolated between 0 and 1 as follows:
where φ is the absolute value of the difference between the signal in the non-reference system Sys system and the reference signal in the reference system.
3. A weighted average voting method according to claim 1, wherein in step 5, the sum of all multiplication factors is equal to 1;
the multiplication factor k11 of the first highest priority Sig (1) (1) is obtained from the priority order and the weighting factor of each signal: k11 ═ CF 11; the multiplication factor by priority Sig (1) (2) is k12: k12 ═ CF12 (1-CF 11); …, the multiplication factor in the priority order Sig (1) (P1) is k1P 1:
k1P1＝CF1P1*…*(1-CF12)*(1-CF11)；
……
the multiplication factor in the priority order Sig (N-1) (1) is kN _ 11:
kN_11＝CFN_11*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)；
the multiplication factor in the order of priority Sig (N-1) (2) is kN-12:
kN_12＝CFN_12*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)。
…
the multiplication factor by priority Sig (N-1) (PN-1) is kN _1PN _ 1:
kN_1PN_1＝CFN_1PN_1*…*(1-CFN_12)*(1-CFN_11)*……*(1-CF1P1)*…*(1-CF12)*(1-CF11)；
the multiplication factor KSTD of the standard signal SigSTD is obtained:
kSTD ═ 1-CFN _1PN _1 × … × (1-CFN _12) × (1-CFN _11) × … … × (1-CF1P1) × … × (1-CF12) (1-CF11) — CFN _12 × (1-CFN _11) × … … (1-CF1P1) × … (1-CF12) ((1-CF 11) — CFN _11 × … … (1-CF1P1) × (1-CF12) ((1-CF 11) — CF1P1 × … × (1-CF12) — (1-CF11) — -CF12 × (1-CF11) — -CF11. Combining the same items to obtain kSTD (1-CFN _1PN _1) … (1-CFN _12) (1-CFN _11) … … (1-CF1P1) … (1-CF12) (1-CF 11);
the weighted average vote value SigSEL of the multi-system redundancy signals considering the priority is as follows:
SigSEL＝k11*Sig(1)(1)+k12*Sig(1)(2)+…+k1P1*Sig(1)(P1)+……+kN_11*Sig(N-1)(1)+kN_12*Sig(N-1)(2)+…+kN_1PN_1*Sig(N-1)(PN-1)+kSTD*SigSTD。
4. the method of claim 1, wherein when all signals in the reference system and all signals in the non-reference system fail, the weighted average voted value SigSEL of the inter-system redundancy signal prioritization is a safe default value.
5. The method of claim 1, wherein in step 3, when there are a plurality of reference signals with the same or the highest weighting coefficient, the signal with the highest priority is selected as the standard signal SigSTD.
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