CN113377005B - Air management and control method, system and storage medium for redundancy airplane management computer software - Google Patents
Air management and control method, system and storage medium for redundancy airplane management computer software Download PDFInfo
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- CN113377005B CN113377005B CN202110601089.7A CN202110601089A CN113377005B CN 113377005 B CN113377005 B CN 113377005B CN 202110601089 A CN202110601089 A CN 202110601089A CN 113377005 B CN113377005 B CN 113377005B
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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 invention provides an aerial management and control method of redundancy airplane management computer software, which stores data to a storage module in real time; adding a PMU unit to receive a remote control instruction, and entering a management and control flow: step 1, judging the type of the instruction, and if the instruction is a restart instruction, jumping to step 2; if the instruction is an upgrading instruction, jumping to the step 3; step 2, sending a restart instruction to the CPU software with specified redundancy, sending key data to the PMU unit, unloading the CPU software, reloading the CPU software into the memory after unloading, and starting; step 3, sending the upgrading instruction to the specified redundancy CPU software, sending the key data to the PMU unit, acquiring a new version of CPU software from the link, unloading the original CPU software, and after the unloading is finished, putting the new version of CPU software into the memory and starting the new version of CPU software; and 4, acquiring the key data from the PMU unit and acquiring the residual information from the storage module. The redundancy judgment and monitoring are carried out through the PMU, so that the redundancy monitoring accuracy is improved; shorten the response time of management and control and improve the success rate.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle management computers, in particular to an aerial management and control method, an aerial management and control system, a computer program and a storage medium of redundancy aircraft management computer software.
Background
The unmanned plane airplane management computer software is the core software for airplane control and management, and the reliability of the unmanned plane airplane management computer software directly influences the safety of an airplane. The reliability of the system is usually enhanced by adopting a redundancy mode for unmanned plane airplane management computer software, but along with the improvement of redundancy, the reliability improvement brought by the redundancy improvement is usually offset by the risk caused by the complexity of hardware design and the complexity improvement of a software algorithm, so that the redundancy of the current mainstream airplane management computer generally adopts 3-redundancy or 4-redundancy.
However, with the development of the existing unmanned aerial vehicle technology, the dead time of the unmanned aerial vehicle is longer and longer, the requirement for reserving a space required for executing a task is higher and higher, the complexity of software and hardware is higher and higher, even if a redundancy computer is adopted, the possibility of losing the redundancy of the computer still exists, if one of the redundancy fails due to the reasons of some software and hardware, three problems can be faced, firstly, how to judge and eliminate the failed redundancy of the computer, namely, the self-monitoring of the redundancy fault is carried out, and the logic completeness can not be achieved no matter on the software and hardware level; the second problem is that even if the fault redundancy can be correctly identified, due to the particularity of the flight management software, a processing method for removing the fault redundancy is generally adopted, which can cause the redundancy quantity of the whole flight management computer to be reduced, thereby causing the reliability of the unmanned aerial vehicle executing the current flight mission to be irreversibly reduced, and affecting the flight safety; the third problem is that the current flight management computer software scheme generally adopts a similar redundancy scheme, and if redundancy faults have operation time accumulation and similarity, the possibility that the whole aircraft management computer fails at the same time is increased gradually along with the accumulation of the power-on time of the aircraft management computer, so the current redundancy management cannot deal with the situation that redundancy fails at the same time. And if the idle time of the unmanned aerial vehicle is longer and longer, the requirement of the unmanned aerial vehicle for air upgrading is more urgent, because the general upgrading process of the airplane management computer software of the existing unmanned aerial vehicle is carried out on the ground, if the unmanned aerial vehicle needs to carry out tasks in a long-time idle state, the upgrading of the airplane management computer software cannot be carried out in the flight process, and the upgrading and the stability of the unmanned aerial vehicle software are influenced.
Disclosure of Invention
Aiming at the problems in the prior art, a PMU (platform management unit) board card is added in the airplane management calculation and is responsible for the functions of starting, awakening, resetting, fault monitoring and the like of the CPU board card, and the method and the system can be used for automatically or remotely restarting or upgrading software of one or more redundancies when the single/redundancy computer fault occurs or the defect is found and the unmanned airplane flight management computer software needs to be upgraded in the flight process of the unmanned airplane, so that the redundancy fault is eliminated, the defect is repaired, the safety of the software is improved, the software is upgraded and the software function is updated.
The technical scheme adopted by the invention is as follows: an aerial management and control method of redundancy airplane management computer software, the redundancy airplane management computer software saves data to a storage module in real time; adding a PMU unit in an airplane management computer, receiving a remote control instruction by the PMU unit, and entering a management and control flow:
step 1, judging the type of an instruction, entering a restarting process if the instruction is a restarting instruction, and jumping to step 2; if the instruction is an upgrading instruction, entering an upgrading flow and skipping to the step 3;
step 2, sending a restart instruction to the specified redundancy CPU software, sending the key data to the PMU unit by the CPU software, unloading the specified redundancy CPU software, reloading the CPU software into the memory after the unloading is finished, and starting the CPU software;
step 3, sending an upgrading instruction to the specified redundancy CPU software, sending the key data to the PMU unit by the CPU software, acquiring a new version of CPU software from the link, unloading the specified redundancy original CPU software, and after unloading is finished, putting the new version of CPU software into the memory and starting the new version of CPU software;
and 4, acquiring key data from the PMU unit to initialize and restore the data, acquiring residual information from the storage module, and finally synchronizing the redundancy.
Further, the storage module comprises an NVRAM and a FLASH, the NVRAM is used for storing the key data, and the FLASH is used for data other than the key data.
Furthermore, when the PMU receives a remote control restart instruction or a timing restart instruction or judges that a certain redundancy has a fault, the execution of the restart process is controlled.
Further, the key data includes flight phase information, current waypoint number and power system state.
Further, the data recovery in step 4 includes: and recovering the airplane phase information and the state information.
The invention also provides an aerial management and control system of the redundancy airplane management computer software, which comprises a PMU unit, redundancy CPU software and a memory module; the storage module comprises an NVRAM and a FLASH, the NVRAM is used for storing key data in real time, and the FLASH is used for storing data except the key data in real time; the PMU unit receives the remote control instruction, judges the type of the remote control instruction, and enters a restarting flow of CPU software according to the restarting instruction if the remote control instruction is the restarting instruction; and if the instruction is an upgrading instruction, entering an upgrading process of the CPU software according to the upgrading instruction.
Further, the restart process is as follows: and sending a restart instruction to the specified redundancy CPU software, sending the key data to the PMU unit by the CPU software, unloading the specified redundancy CPU software, reloading the CPU software into the memory and starting the CPU software after unloading, acquiring the key data from the PMU unit for initialization and data recovery after starting, acquiring residual information from the storage module, and finally synchronizing the redundancies to finish upgrading.
Further, the upgrading process is as follows: sending an upgrading instruction to the specified redundancy CPU software, sending key data to the PMU unit by the CPU software, acquiring a new version of CPU software from a link, unloading the specified redundancy original CPU software, and after unloading is finished, putting the new version of CPU software into a memory and starting the new version of CPU software; and obtaining key data from the PMU unit to carry out initialization and data recovery, obtaining residual information from the storage module, and finally carrying out redundancy synchronization to finish upgrading.
The invention also provides a computer program which comprises computer program instructions, wherein the program instructions are used for realizing the corresponding process of the air management and control method of the redundancy airplane management computer software when being executed by a processor.
The invention also provides a storage medium, on which computer program instructions are stored, wherein the program instructions are used for implementing the corresponding process of the air management and control method of the redundancy airplane management computer software when being executed by a processor.
Compared with the prior art, the beneficial effects of adopting the technical scheme are as follows:
1. a high-reliability PMU (platform management unit) is adopted to carry out redundancy judgment instead of redundancy monitoring self-monitoring, so that the accuracy of redundancy monitoring is improved;
2. a hierarchical (PMU-NVRAM-FLASH) data storage and recovery mechanism shortens the response time of software restart and upgrade and improves the success rate of the software restart and upgrade;
3. the method supports the regular restart of the specified redundancy software, and improves the average fault-free running time of the software;
4. the aerial upgrading is supported, and the adaptability of the unmanned aerial vehicle and the safety of software are improved.
Drawings
Fig. 1 is a basic workflow diagram of an aerial management and control method of redundancy aircraft management computer software according to the present invention.
Fig. 2 is a schematic diagram of data exchange of the air management and control system of the redundancy airplane management computer software provided by the invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the present embodiment provides an aerial management and control method for redundant airplane management computer software, where the redundant airplane management computer software stores data in real time in a storage module; adding a PMU unit in an airplane management computer, receiving a remote control instruction by the PMU unit, and entering a management and control flow:
step 1, judging the type of an instruction, entering a restarting process if the instruction is a restarting instruction, and jumping to step 2; if the instruction is an upgrading instruction, entering an upgrading flow and skipping to the step 3;
step 2, sending a restart instruction to the specified redundancy CPU software, sending the key data to the PMU unit by the CPU software, unloading the specified redundancy CPU software, reloading the CPU software into the memory after the unloading is finished, and starting the CPU software;
step 3, sending an upgrading instruction to the specified redundancy CPU software, sending the key data to the PMU unit by the CPU software, acquiring a new version of CPU software from the link, unloading the specified redundancy original CPU software, and after unloading is finished, putting the new version of CPU software into the memory and starting the new version of CPU software;
and 4, acquiring key data from the PMU unit to initialize and restore the data, acquiring residual information from the storage module, and finally synchronizing the redundancy.
Preferably, the storage module comprises an NVRAM and a FLASH, the NVRAM is used for storing critical data, and the FLASH is used for data other than the critical data.
Preferably, when the PMU receives a remote restart instruction or a timed restart instruction or determines that a redundancy has a fault, the PMU controls execution of the restart flow.
Preferably, the key data includes flight phase information, a current waypoint number and a power system state, and the data recovery in the step 4 includes: and recovering the airplane phase information and the state information.
Example 2
As shown in fig. 2, the present embodiment provides an aerial management and control system of redundancy aircraft management computer software, which is characterized by including a PMU, redundancy CPU software, and a storage module; the storage module comprises an NVRAM and a FLASH, the NVRAM is used for storing key data in real time, and the FLASH is used for storing data except the key data in real time; the PMU unit receives the remote control instruction, judges the type of the remote control instruction, and enters a restarting flow of CPU software according to the restarting instruction if the remote control instruction is the restarting instruction; and if the instruction is an upgrading instruction, entering an upgrading process of the CPU software according to the upgrading instruction.
Specifically, the restart process is as follows: and sending a restart instruction to the specified redundancy CPU software, sending the key data to the PMU unit by the CPU software, unloading the specified redundancy CPU software, reloading the CPU software into the memory and starting the CPU software after unloading, acquiring the key data from the PMU unit for initialization and data recovery after starting, acquiring residual information from the storage module, and finally synchronizing the redundancies to finish upgrading.
The upgrading process comprises the following steps: sending an upgrading instruction to the specified redundancy CPU software, sending key data to the PMU unit by the CPU software, acquiring a new version of CPU software from a link, unloading the specified redundancy original CPU software, and after unloading is finished, putting the new version of CPU software into a memory and starting the new version of CPU software; and obtaining key data from the PMU unit to initialize and recover the data, obtaining residual information from the storage module, and finally synchronizing redundancy to finish upgrading.
Preferably, the key data includes flight phase information, current waypoint number and power system state.
Example 3
The present embodiment also provides a computer program, which includes computer program instructions, wherein the program instructions, when executed by a processor, are configured to implement a process corresponding to the air management control method of the redundant aircraft management computer software according to any one of claims 1 to 5.
Example 4
The present invention also provides a storage medium having stored thereon computer program instructions, wherein the program instructions, when executed by a processor, are adapted to implement a process corresponding to the method for air management of redundant aircraft management computer software according to any of claims 1 to 5.
The scheme provided by the invention has the beneficial effects that:
1. and a high-reliability PMU (platform management unit) is adopted to carry out redundancy judgment instead of redundancy monitoring self-monitoring, so that the accuracy of redundancy monitoring is improved.
2. A data storage and recovery mechanism of a grading (PMU-NVRAM-FLASH) shortens the response time of software restart and upgrade and improves the success rate of the software restart and upgrade.
3. The method supports the regular restart of the specified redundancy software and improves the average fault-free running time of the software.
4. The aerial upgrading is supported, and the adaptability of the unmanned aerial vehicle and the safety of software are improved.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed. Those skilled in the art to which the invention pertains will appreciate that insubstantial changes or modifications can be made without departing from the spirit of the invention as defined by the appended claims.
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Claims (7)
1. An aerial management and control method of redundancy airplane management computer software is characterized in that the redundancy airplane management computer software stores data to a storage module in real time; adding a PMU unit in an airplane management computer, receiving a remote control instruction by the PMU unit, and entering a management and control flow:
step 1, judging the type of an instruction, entering a restarting process if the instruction is a restarting instruction, and jumping to step 2; if the instruction is an upgrading instruction, entering an upgrading flow and skipping to the step 3;
step 2, sending a restart instruction to the specified redundancy CPU software, sending the key data to the PMU unit by the CPU software, unloading the specified redundancy CPU software, reloading the CPU software into the memory after the unloading is finished, and starting the CPU software;
step 3, sending an upgrading instruction to the specified redundancy CPU software, sending the key data to the PMU unit by the CPU software, acquiring a new version of CPU software from the link, unloading the specified redundancy original CPU software, and after unloading is finished, putting the new version of CPU software into the memory and starting the new version of CPU software;
and 4, acquiring key data from the PMU unit to initialize and restore the data, acquiring residual information from the storage module, and finally synchronizing the redundancy.
2. The method of claim 1, wherein the storage module comprises NVRAM and FLASH, the NVRAM storing critical data and the FLASH storing data other than the critical data.
3. The air management and control method for redundancy aircraft management computer software according to claim 1, wherein when the PMU receives a remote restart instruction or a timed restart instruction or determines that a redundancy has a fault, the PMU controls execution of a restart procedure.
4. The method of claim 1, wherein the key data includes flight phase information, current waypoint number and powertrain state.
5. The method for aerial management and control of redundant airplane management computer software according to claim 4, wherein the data recovery in step 4 comprises: and recovering the airplane phase information and the state information.
6. An aerial management and control system of redundancy aircraft management computer software is characterized by comprising a PMU unit, redundancy CPU software and a storage module; the storage module comprises an NVRAM and a FLASH, the NVRAM is used for storing key data in real time, and the FLASH is used for storing data except the key data in real time; the PMU unit receives the remote control instruction, judges the type of the remote control instruction, and enters a restarting flow of CPU software according to the restarting instruction if the remote control instruction is the restarting instruction; if the instruction is an upgrading instruction, entering an upgrading process of the CPU software according to the upgrading instruction; the restarting process comprises the following steps: sending a restart instruction to specified redundancy CPU software, sending key data to a PMU unit by the CPU software, unloading the specified redundancy CPU software, reloading the CPU software to a memory after unloading is finished and starting the CPU software, acquiring the key data from the PMU unit after starting the CPU software for initialization and data recovery, acquiring residual information from a storage module, and finally synchronizing the redundancies to finish upgrading; the upgrading process comprises the following steps: sending an upgrading instruction to the specified redundancy CPU software, sending key data to the PMU unit by the CPU software, acquiring a new version of CPU software from a link, unloading the specified redundancy original CPU software, and after unloading is finished, putting the new version of CPU software into a memory and starting the new version of CPU software; and obtaining key data from the PMU unit to carry out initialization and data recovery, obtaining residual information from the storage module, and finally carrying out redundancy synchronization to finish upgrading.
7. A storage medium having stored thereon computer program instructions, wherein the program instructions, when executed by a processor, are adapted to implement a process corresponding to the method for air management of redundant aircraft management computer software according to any of claims 1-5.
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