CN113687710A - Power failure processing method and system for flight control management computer of fixed-wing unmanned aerial vehicle - Google Patents
Power failure processing method and system for flight control management computer of fixed-wing unmanned aerial vehicle Download PDFInfo
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Abstract
The application discloses a power failure processing method and a system for a flight control management computer of a fixed wing unmanned aerial vehicle, wherein the method comprises the following steps: when the flight control and management of the fixed-wing unmanned aerial vehicle are carried out through the flight control management computer, the input and output data of the flight control management computer are acquired in real time; the input and output data are stored in a data memory, and the input and output data stored in the data memory cannot be lost when the flight control management computer is powered down; and when the flight control management computer is powered off and then power supply is recovered, and in the starting process, the input and output data of the data memory are loaded to the flight control management computer. This application is used for at fixed wing unmanned aerial vehicle after the power failure recovery, continues monitoring and control before the power failure, ensures fixed wing unmanned aerial vehicle's safety.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to a power failure processing method and system for a flight control management computer of a fixed-wing unmanned aerial vehicle.
Background
The fixed-wing unmanned aerial vehicle has the characteristics of long endurance time and high-altitude flight, and is widely applied to practical occasions such as border cruising, tactical reconnaissance, public security monitoring, anti-terrorism, smuggling, drug control, disaster monitoring, forest fire prevention, communication relay, meteorological monitoring, geographic information reconnaissance and the like.
In the flight process of the fixed-wing unmanned aerial vehicle, a flight control and management computer (also called a flight control management computer) is important equipment for performing state control, flight instruction sending and equipment instruction sending on the fixed-wing unmanned aerial vehicle, and if the flight control management computer fails to receive an instruction due to power supply failure, the fixed-wing unmanned aerial vehicle loses control and even can crash.
In the current relevant technology, after the flight control management computer is powered off and power supply is recovered, software related to flight control needs to be restarted to monitor and control the fixed-wing unmanned aerial vehicle again, but data before power failure is lost, monitoring and control before power failure cannot be continued, and safety of the fixed-wing unmanned aerial vehicle cannot be guaranteed.
Disclosure of Invention
In order to continue monitoring and control before the power failure and ensure the safety of the fixed wing unmanned aerial vehicle after the fixed wing unmanned aerial vehicle recovers from the power failure, the application provides a flight control management computer power failure processing method and system of the fixed wing unmanned aerial vehicle.
In a first aspect, the application provides a power failure processing method for a flight control management computer of a fixed-wing unmanned aerial vehicle, which adopts the following technical scheme:
a power failure processing method for a flight control management computer of a fixed wing unmanned aerial vehicle comprises the following steps:
when the flight control and management of the fixed-wing unmanned aerial vehicle are carried out through a flight control management computer, the input and output data of the flight control management computer are acquired in real time;
storing the input and output data to a data memory, wherein the input and output data stored by the data memory cannot be lost when the flight control management computer is powered down;
and when the flight control management computer recovers power supply after power failure and is started, loading the input and output data of the data memory to the flight control management computer.
By adopting the technical scheme, when the fixed-wing unmanned aerial vehicle executes a flight task, the flight control and management of the fixed-wing unmanned aerial vehicle are carried out through the flight control management computer, in the flight control and management process, the input and output data of the flight control management computer are acquired in real time, the input and output data can be flight control state data, flight instructions, equipment instructions and other data, after the input and output data are acquired, in order to ensure that the data of the flight control management computer is lost after sudden power failure and other problems occur, the input and output data can be stored in a data Memory which can not lose data when the power failure occurs in the flight control management computer, the data Memory can be a Read-Only Memory (ROM), an optical disk and other devices, when the power failure occurs in the flight control management computer and power supply is recovered, and the flight control management computer executes the starting process, the input and output data of the data memory are loaded to the flight control management computer, so that the monitoring and control of the state, the instruction and the clock of the fixed-wing unmanned aerial vehicle before power failure can be continued, and the safety of the fixed-wing unmanned aerial vehicle is guaranteed.
Optionally, the flight control management computer includes status data, instruction data and clock data,
the real-time acquisition of the input and output data of the flight control management computer comprises the following steps:
when the flight control and management of the fixed-wing unmanned aerial vehicle are carried out through a flight control management computer, receiving state data of the fixed-wing unmanned aerial vehicle in real time through the flight control management computer;
acquiring instruction data for controlling the fixed-wing unmanned aerial vehicle in real time through the flight control management computer;
and acquiring clock data of the flight control management computer in real time.
By adopting the technical scheme, the monitoring and control of the flight control management computer on the fixed-wing unmanned aerial vehicle mainly comprises state data, instruction data and clock data, so that when the flight control management computer performs flight control and management on the fixed-wing unmanned aerial vehicle, the state data of the fixed-wing unmanned aerial vehicle is received in real time through the flight control management computer, and the state data can be flight control state data specifically; acquiring instruction data for controlling the fixed-wing unmanned aerial vehicle in real time through a flight control management computer, wherein the instruction data can be flight instructions or equipment instructions, and the issuing of the instructions can be sent by a user or automatically generated by flight control software; the clock data is mainly used for real-time synchronization of the fixed wing unmanned aerial vehicle and equipment such as a flight control management computer on the ground.
Optionally, the saving the input and output data to the data storage includes:
and storing the state data, the instruction data and the clock data into a data memory according to a preset period, a preset batch or a storage instruction, and recording the storage time point of the state data, the instruction data and the clock data stored each time.
By adopting the technical scheme, when data are stored, the situation that the state data represent the flight control state of the fixed-wing unmanned aerial vehicle and need to be controlled in real time is considered; the instruction data is generated when an operation instruction exists; and the clock data may be a periodic synchronous clock trigger. Different data may be sourced and sourced, and may need to be continuously acquired in real time during the flight mission performed by the fixed wing drone. Therefore, the state data, the instruction data and the clock data can be stored in the data memory according to the preset period, the preset batch or the storage instruction, and the storage time points of the state data, the instruction data and the clock data are recorded every time.
Optionally, before loading the input/output data of the data storage into the flight control management computer, the method further includes:
when the flight control management computer is powered off, recording the power-off time point, and detecting whether the power supply of the flight control management computer is recovered in real time;
if the flight control management computer does not recover power supply, continuously detecting whether the power supply is recovered;
if the flight control management computer recovers power supply, detecting whether the flight control management computer is started in real time;
if the flight control management computer is not started, continuously detecting whether the flight control management computer is started or not;
and if the flight control management computer is started, recording a starting time point, and predicting to obtain the starting process duration of the flight control management computer.
By adopting the technical scheme, when the flight control management computer is powered off, the power-off time point is recorded, and whether the power supply of the flight control management computer is recovered or not is detected in real time; if the flight control management computer does not recover the power supply, continuously detecting whether the power supply is recovered; if the flight control management computer recovers power supply, detecting whether the flight control management computer is started in real time; if the flight control management computer is not started, continuously detecting whether the flight control management computer is started or not; and if the flight control management computer is started, recording the starting time point, and predicting the starting process duration of the flight control management computer. Recording is required for when power loss occurs, when power is restored, and when it is started.
Optionally, after recording the starting time point and predicting the starting process duration of the flight control management computer, the method further includes:
determining interval duration according to the starting time point and the power failure time point;
judging whether the interval time is greater than a data recovery time threshold value, wherein the data recovery time threshold value is preset according to the safety requirement of the flight control management computer;
if the interval duration is greater than the data recovery duration threshold, no data is loaded to the flight control management computer;
and if the interval duration is not greater than the data recovery duration threshold, loading the input and output data of the data memory to the flight control management computer.
By adopting the technical scheme, when the flight control management computer performs flight control and management on the fixed-wing unmanned aerial vehicle, the safety of the fixed-wing unmanned aerial vehicle is considered, the time from power failure to power restoration to starting is not too long when the flight control management computer is in flight control, if the time is too long, the fixed-wing unmanned aerial vehicle loses control and is possibly damaged, and therefore a data restoration time threshold value needs to be preset, for example, 3 seconds or 5 seconds. Determining interval time according to the starting time point and the power failure time point, and judging whether the interval time is greater than a data recovery time threshold value, wherein the data recovery time threshold value is preset according to the safety requirement of the flight control management computer; if the interval duration is greater than the data recovery duration threshold, no data is loaded to the flight control management computer; and if the interval duration is not greater than the data recovery duration threshold, loading the input and output data of the data memory to the flight control management computer.
Optionally, the loading the input and output data of the data storage to the flight control management computer includes:
according to the recorded storage time points of the state data, the instruction data and the clock data stored each time, determining a state data storage time point, an instruction data storage time point and a clock data storage time point which are closest to the power failure time point;
reading target state data corresponding to the state data storage time point, target instruction data corresponding to the instruction data storage time point and target clock data corresponding to the clock data storage time point from the data memory;
and loading the target state data, the target instruction data and the target clock data to the flight control management computer according to a preset data recovery rule.
By adopting the technical scheme, the state data storage time point, the instruction data storage time point and the clock data storage time point which are closest to the power failure time point are determined according to the storage time points of the recorded state data, the instruction data and the clock data each time, that is, the flight control and management data of the flight control management computer is closest to the data before power failure, the target state data corresponding to the state data storage time point, the target instruction data corresponding to the instruction data storage time point and the target clock data corresponding to the clock data storage time point are read from the data memory, loading the target state data, the target instruction data and the target clock data to the flight control management computer according to a preset data recovery rule, thereby guarantee to fly to control the monitoring and the control of controlling computer to the fixed wing unmanned aerial vehicle before can continuing to fall the power failure.
Optionally, the loading the target state data, the target instruction data, and the target clock data to the flight control management computer according to a preset data recovery rule includes:
according to a preset data recovery rule, determining that the target state data is the highest priority, the target instruction data is the middle priority and the target clock data is the lowest priority;
and loading the target state data, the target instruction data and the target clock data to the flight control management computer in sequence from high priority to low priority.
By adopting the technical scheme, when the flight control management computer carries out flight control and management on the fixed-wing unmanned aerial vehicle, some important data related to safety of the fixed-wing unmanned aerial vehicle and some secondary data related to monitoring are arranged, therefore, different priorities can be set for different data, according to a preset data recovery rule, the target state data is determined to be the highest priority, the target instruction data is determined to be the middle priority and the target clock data is determined to be the lowest priority, when loading is carried out, the target state data, the target instruction data and the target clock data are loaded to the flight control management computer sequentially, wherein the target instruction data and the target clock data are loaded at the high priority and then the target clock data are loaded at the low priority.
Optionally, the loading the target state data, the target instruction data, and the target clock data to the flight control management computer in sequence according to the order of priority from high to low includes:
acquiring data volume of the target state data, the target instruction data and the target clock data;
predicting according to the data quantity to obtain a first loading time length of the target state data, a second loading time length of the target instruction data and a third loading time length of the target clock data;
judging whether the starting process time length is greater than the sum of the first loading time length and the second loading time length;
if the target state data and the target instruction data are not greater than the first loading time, adding additional starting process time, wherein the sum of the starting process time and the additional starting process time is greater than the sum of the first loading time and the second loading time, and sequentially loading the target state data and the target instruction data to the flight control management computer according to the sequence of the priority from high to low;
if so, sequentially loading the target state data and the target instruction data to the flight control management computer from high priority to low priority;
judging whether the starting process time length minus the first loading time length and the second loading time length is larger than a third loading time length or not;
if not, giving up loading the target clock data;
and if so, loading the target clock data to the flight control management computer.
By adopting the technical scheme, whether the loading can be completed in the starting process is considered in the data loading process, the data quantity of the target state data, the target instruction data and the target clock data is obtained firstly, the first loading time length of the target state data, the second loading time length of the target instruction data and the third loading time length of the target clock data are obtained according to the data quantity prediction, whether the starting process time length is greater than the sum of the first loading time length and the second loading time length is judged, if the starting process time length is not greater than the second loading time length, the additional starting process time length needs to be added, because the loading is not completed, the flight control management computer cannot be started, the sum of the starting process time length and the additional starting process time length is greater than the sum of the first loading time length and the second loading time length, and the target state data and the target instruction data are loaded to the flight control management computer in sequence from high to low according to the priority, if the priority is higher than the target priority, sequentially loading the target state data and the target instruction data to the flight control management computer from high to low; and then judging whether the time length of the starting process minus the first loading time length and the second loading time length is greater than a third loading time length, if not, giving up loading the target clock data, and if so, loading the target clock data to the flight control management computer.
In a second aspect, the application provides a flight control management computer power-down processing system of a fixed-wing unmanned aerial vehicle, which adopts the following technical scheme:
the acquisition module is used for acquiring input and output data of the flight control management computer in real time when the flight control management computer performs flight control and management on the fixed-wing unmanned aerial vehicle;
the storage module is used for storing the input and output data to a data storage, and the input and output data stored by the data storage cannot be lost when the flight control management computer is powered off;
and the data loading module is used for recovering power supply after the flight control management computer is powered off and loading the input and output data of the data memory to the flight control management computer in the starting process.
By adopting the technical scheme, when the fixed-wing unmanned aerial vehicle executes a flight task, the flight control and management are carried out on the fixed-wing unmanned aerial vehicle through the flight control management computer, in the process of carrying out the flight control and management, the acquisition module acquires input and output data of the flight control management computer in real time, the input and output data can be flight control state data, flight instructions, equipment instructions and the like, after the input and output data are acquired, in order to ensure that the data of the flight control management computer is lost after sudden power failure and other problems occur, the storage module can store the input and output data into a data storage device which can not lose the data when the power failure occurs in the flight control management computer, the data storage device can be a Read-Only Memory (ROM), an optical disk and other devices, when the power failure occurs in the flight control management computer and power supply is recovered, when the flight control management computer executes the starting process, the data loading module loads the input and output data of the data memory to the flight control management computer, so that the monitoring and control on the state, the instruction and the clock of the fixed-wing unmanned aerial vehicle before power failure can be continued, and the safety of the fixed-wing unmanned aerial vehicle is guaranteed.
To sum up, the application comprises the following beneficial technical effects:
the input and output data of the flight control management computer are stored in the data storage, the input and output data stored in the data storage cannot be lost when the flight control management computer is powered down, power supply is recovered after the flight control management computer is powered down, and the input and output data of the data storage are loaded to the flight control management computer in the starting process, so that monitoring and control of the flight control management computer before the power down can be continued, and the safety of the fixed-wing unmanned aerial vehicle is guaranteed.
Drawings
Fig. 1 is a schematic structural diagram of a system for processing power failure of a flight control management computer of a fixed-wing drone according to the present application.
Fig. 2 is a schematic flow chart of a power failure processing method of a flight control management computer of the fixed-wing drone according to the present application.
Fig. 3 is a schematic diagram of a detection process of power down, power restoration, and startup of the flight control management computer according to the present application.
Fig. 4 is a flowchart illustrating a data recovery time condition of the flight control management computer according to the present application.
Fig. 5 is a schematic flowchart of loading input/output data of a data memory to an flight control management computer according to the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application discloses a flight control management computer power failure processing system of a fixed wing unmanned aerial vehicle.
Referring to fig. 1, the system includes:
the acquiring module 101 is used for acquiring input and output data of the flight control management computer in real time when the flight control and management of the fixed-wing unmanned aerial vehicle are performed through the flight control management computer;
the storage module 102 is configured to store the input/output data in the data storage, where the input/output data stored in the data storage is not lost when the flight control management computer is powered down;
and the data loading module 103 is used for recovering power supply after the flight control management computer is powered off, and loading the input and output data of the data memory to the flight control management computer in the starting process.
The implementation principle of the embodiment is as follows: the acquisition module 101 acquires input and output data of the flight control management computer, the storage module 102 stores the input and output data to the data memory, the input and output data stored by the data memory cannot be lost when the flight control management computer is powered down, power supply is recovered after the flight control management computer is powered down, and in the starting process, the data loading module 103 loads the input and output data of the data memory to the flight control management computer, so that monitoring and control of the flight control management computer before the power down can be continued, and safety of the fixed-wing unmanned aerial vehicle is guaranteed.
With reference to the system for processing power failure of the flight control management computer of the fixed-wing drone shown in fig. 1, a method for processing power failure of the flight control management computer of the fixed-wing drone applied to the system is described below, and as shown in fig. 2, a method for processing power failure of the flight control management computer of the fixed-wing drone includes:
201, when the flight control and management of the fixed-wing unmanned aerial vehicle are performed through the flight control management computer, the input and output data of the flight control management computer are acquired in real time.
When the fixed-wing unmanned aerial vehicle executes a flight task, the flight control and management of the fixed-wing unmanned aerial vehicle are carried out through the flight control management computer, and in the process of carrying out the flight control and management, the input and output data of the flight control management computer are obtained in real time, wherein the input and output data can be flight control state data, flight instructions, equipment instructions and the like.
It should be noted that the flight control management computer includes state data, instruction data and clock data, and the monitoring and control of the flight control management computer on the fixed-wing drone mainly passes through the state data, the instruction data and the clock data, so that when the flight control management computer performs flight control and management on the fixed-wing drone, the state data of the fixed-wing drone is received in real time through the flight control management computer, and the state data may be flight control state data specifically; acquiring instruction data for controlling the fixed-wing unmanned aerial vehicle in real time through a flight control management computer, wherein the instruction data can be flight instructions or equipment instructions, and the issuing of the instructions can be sent by a user or automatically generated by flight control software; the clock data is mainly used for real-time synchronization of the fixed wing unmanned aerial vehicle and equipment such as a flight control management computer on the ground.
202, the input and output data are saved to the data memory.
After the input and output data are acquired, in order to ensure that the data loss of the flight control management computer can be caused after the problems of sudden power failure and the like occur, the input and output data can be stored in a data storage device which can not lose the data when the power failure occurs to the flight control management computer, and the data storage device can be a Read-Only Memory (ROM), an optical disk and other devices.
The specific storage method of the input/output data is as follows:
storing the state data, the instruction data and the clock data into a data memory according to a preset period, a preset batch or a storage instruction, and recording the storage time points of the state data, the instruction data and the clock data stored each time;
when data storage is carried out, the condition data are considered to represent the flight control condition of the fixed-wing unmanned aerial vehicle and need to be mastered in real time; the instruction data is generated when an operation instruction exists; and the clock data may be a periodic synchronous clock trigger. Different data may be sourced and sourced, and may need to be continuously acquired in real time during the flight mission performed by the fixed wing drone. Therefore, the state data, the instruction data and the clock data can be stored in the data memory according to the preset period, the preset batch or the storage instruction, and the storage time points of the state data, the instruction data and the clock data are recorded every time.
And 203, when the flight control management computer is powered off and then power supply is recovered, and in the starting process, the input and output data of the data memory are loaded to the flight control management computer.
When the flight control management computer executes the starting process after the power failure occurs to the flight control management computer and the power supply is recovered, the input and output data of the data memory are loaded to the flight control management computer, so that the monitoring and control on the state, the instruction and the clock of the fixed-wing unmanned aerial vehicle before the power failure can be continued.
The implementation principle of the embodiment is as follows: the acquired input and output data of the flight control management computer are stored to a data memory which can not lose data when the flight control management computer is powered down, the power failure occurs in the flight control management computer, and after power supply is recovered, the input and output data of the data memory are loaded to the flight control management computer when the flight control management computer executes a starting process, so that the monitoring and control of the state, the instruction and the clock of the fixed wing unmanned aerial vehicle before the power failure can be continued, and the safety of the fixed wing unmanned aerial vehicle is guaranteed.
In conjunction with the above embodiment shown in fig. 2, before step 203, it is necessary to record when the power failure occurs, when the power supply is recovered, and when the power supply is started, so that before step 203, the following detection flows of the flight control management computer for power failure, power supply recovery, and startup are also included, as shown in fig. 3:
301, when the flight control management computer loses power, recording the time point of the power failure, and detecting whether the power supply of the flight control management computer is recovered in real time.
When the flight control management computer is powered down, the power down can be determined through the voltage interface, the power down time point at the moment is recorded, generally, in order to enhance the power supply reliability, a ground power supply/a generator power supply/an independent storage battery three-loop power supply is adopted, namely when one loop is powered down, the other loop can rapidly provide power supply, and therefore power supply is recovered. However, even if a plurality of power supply loops exist, whether power supply is recovered or not needs to be detected in real time, and if power supply is not recovered, detection is continuously performed; if power is restored, step 302 is performed.
302, detecting whether the flight control management computer is started in real time.
After the power supply of the flight control management computer is restored, the flight control management computer may be restarted manually or automatically, so that whether the flight control management computer is started or not needs to be detected in real time, and if the flight control management computer is not started, the detection is continuously performed; if so, step 303 is performed.
And 303, recording the starting time point, and predicting the starting process duration of the flight control management computer.
If the flight control management computer is started, the starting time point for starting the flight control management computer is recorded, the starting process duration of the flight control management computer is predicted, and the duration spent in the starting process can be predicted for different computers according to historical starting data, so that the starting process duration of the flight control management computer can be predicted.
The implementation principle of the embodiment is as follows: the power failure time point when the flight control management computer is powered down is recorded, so that the time when the power failure occurs in the follow-up processing process can be determined, after the power failure occurs, whether power supply needs to be recovered or not is detected, after the power supply is recovered, whether the power supply needs to be started or not is also detected, the starting time point is recorded, and the duration of the starting process of the flight control management computer is obtained through prediction so as to facilitate subsequent data loading.
In the above embodiment shown in fig. 3, step 303 is followed by the start-up having already started, and then after that, the scene of the fixed-wing drone needs to be considered, and the fixed-wing drone needs to be controlled in real time during the flight, and for the safety of the fixed-wing drone, there is necessarily a time requirement for the data recovery of the flight control management computer. This is illustrated by the embodiment shown in fig. 4:
401, determining an interval duration according to the starting time point and the power-down time point.
When the flight control management computer performs flight control and management on the fixed-wing unmanned aerial vehicle, considering the safety of the fixed-wing unmanned aerial vehicle, the time during the period from power failure to power restoration to starting of the flight control management computer cannot be too long, if the time is too long, the fixed-wing unmanned aerial vehicle loses control and is likely to be damaged, so that a data restoration time threshold needs to be preset, for example, 3 seconds or 5 seconds, and the time difference between the starting time point and the power failure time point is used as the interval time.
And 402, judging whether the interval duration is greater than the data recovery duration threshold.
Judging whether the interval duration is greater than a data recovery duration threshold, if so, indicating that the data recovery is not meaningful, and executing a step 403; if the interval duration is not greater than the data recovery duration threshold, step 404 is performed.
403, no data is loaded to the flight management computer.
And 404, loading input and output data of the data memory to the flight control management computer.
The implementation principle of the embodiment is as follows: the limitation of data recovery is carried out through the time length from power failure to power restoration to starting of the flight control management computer, and the situation that the flight control management computer is applied to the fixed-wing unmanned aerial vehicle is fully considered.
The following describes in detail the loading of the input and output data of the data memory to the flight control management computer by the embodiment shown in fig. 5, specifically as follows:
and 501, determining a state data storage time point, an instruction data storage time point and a clock data storage time point which are closest to the power failure time point according to the recorded storage time points of the state data, the instruction data and the clock data each time.
In order to enable the flight control management computer to be closest to the state before power failure after data loading in the starting process is completed, the state data storage time point, the instruction data storage time point and the clock data storage time point which are closest to the power failure time point are determined according to the recorded storage time points of the state data, the instruction data and the clock data each time.
502, the target state data corresponding to the state data saving time point, the target instruction data corresponding to the instruction data saving time point, and the target clock data corresponding to the clock data saving time point are read from the data memory.
Target state data corresponding to the state data storage time point, target instruction data corresponding to the instruction data storage time point and target clock data corresponding to the clock data storage time point can be read from the data memory through the association relationship between the storage time point and the data.
503, according to the preset data recovery rule, determining the target status data as the highest priority, the target instruction data as the middle priority and the target clock data as the lowest priority.
When the flight control management computer performs flight control and management on the fixed-wing unmanned aerial vehicle, some important data related to safety of the fixed-wing unmanned aerial vehicle and some secondary data related to monitoring are set, so that different data can be set with different priorities, and according to a preset data recovery rule, target state data is determined to be the highest priority, target instruction data is determined to be the middle priority, and target clock data is determined to be the lowest priority.
And 504, loading the target state data, the target instruction data and the target clock data to the flight control management computer in sequence from high priority to low priority.
When loading, the target state data, the target instruction data and the target clock data are loaded to the flight control management computer in sequence, wherein the loading priority is high, and then the loading priority is low, and the specific process is as follows:
acquiring data volume of target state data, target instruction data and target clock data;
predicting to obtain a first loading time length of target state data, a second loading time length of target instruction data and a third loading time length of target clock data according to the data amount;
judging whether the starting process time length is greater than the sum of the first loading time length and the second loading time length;
if the target state data and the target instruction data are not greater than the first loading time, adding additional starting process time, wherein the sum of the starting process time and the additional starting process time is greater than the sum of the first loading time and the second loading time, and sequentially loading the target state data and the target instruction data to the flight control management computer from high to low according to the priority;
if so, sequentially loading the target state data and the target instruction data to the flight control management computer from high to low in priority;
judging whether the starting process time length minus the first loading time length and the second loading time length is greater than a third loading time length or not;
if not, giving up loading the target clock data;
and if so, loading the target clock data to the flight control management computer.
The implementation principle of the embodiment is as follows: the time points are saved to ensure that the data loaded by the flight control management computer in the starting process is the closest before power failure, and the monitoring and control of the fixed-wing unmanned aerial vehicle before the power failure can be continued by the flight control management computer can be ensured. When data loading is carried out, whether target state data and target instruction data can be loaded and completed within the starting process time length is judged, and when the target state data and the target instruction data cannot be loaded and completed, additional starting process time length needs to be added, and starting can not be achieved until the target state data and the target instruction data are loaded and completed. And the sequential loading is carried out according to the priority sequence, so that the priority loading of important data is ensured, and the safety of the fixed-wing unmanned aerial vehicle is ensured.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the application in any way, and any features disclosed in this specification (including the abstract and drawings) 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 (9)
1. A power failure processing method for a flight control management computer of a fixed wing unmanned aerial vehicle is characterized by comprising the following steps:
when the flight control and management of the fixed-wing unmanned aerial vehicle are carried out through a flight control management computer, the input and output data of the flight control management computer are acquired in real time;
storing the input and output data to a data memory, wherein the input and output data stored by the data memory cannot be lost when the flight control management computer is powered down;
and when the flight control management computer recovers power supply after power failure and is started, loading the input and output data of the data memory to the flight control management computer.
2. The method of claim 1, wherein the flight control management computer includes status data, command data, and clock data,
the real-time acquisition of the input and output data of the flight control management computer comprises the following steps:
when the flight control and management of the fixed-wing unmanned aerial vehicle are carried out through a flight control management computer, receiving state data of the fixed-wing unmanned aerial vehicle in real time through the flight control management computer;
acquiring instruction data for controlling the fixed-wing unmanned aerial vehicle in real time through the flight control management computer;
and acquiring clock data of the flight control management computer in real time.
3. The method for processing power failure of the flight control management computer of the fixed-wing drone of claim 2, wherein said saving the input and output data to a data store includes:
and storing the state data, the instruction data and the clock data into a data memory according to a preset period, a preset batch or a storage instruction, and recording the storage time point of the state data, the instruction data and the clock data stored each time.
4. The method for processing power failure of the flight control management computer of the fixed-wing drone according to claim 3, wherein before loading the input and output data of the data memory to the flight control management computer, the method further comprises:
when the flight control management computer is powered off, recording the power-off time point, and detecting whether the power supply of the flight control management computer is recovered in real time;
if the flight control management computer does not recover power supply, continuously detecting whether the power supply is recovered;
if the flight control management computer recovers power supply, detecting whether the flight control management computer is started in real time;
if the flight control management computer is not started, continuously detecting whether the flight control management computer is started or not;
and if the flight control management computer is started, recording a starting time point, and predicting to obtain the starting process duration of the flight control management computer.
5. The method for processing power failure of the flight control management computer of the fixed-wing drone according to claim 4, wherein after recording the starting time point and predicting the starting process duration of the flight control management computer, the method further comprises:
determining interval duration according to the starting time point and the power failure time point;
judging whether the interval time is greater than a data recovery time threshold value, wherein the data recovery time threshold value is preset according to the safety requirement of the flight control management computer;
if the interval duration is greater than the data recovery duration threshold, no data is loaded to the flight control management computer;
and if the interval duration is not greater than the data recovery duration threshold, loading the input and output data of the data memory to the flight control management computer.
6. The method for processing power failure of the flight control management computer of the fixed-wing drone according to claim 5, wherein the loading the input and output data of the data memory to the flight control management computer includes:
according to the recorded storage time points of the state data, the instruction data and the clock data stored each time, determining a state data storage time point, an instruction data storage time point and a clock data storage time point which are closest to the power failure time point;
reading target state data corresponding to the state data storage time point, target instruction data corresponding to the instruction data storage time point and target clock data corresponding to the clock data storage time point from the data memory;
and loading the target state data, the target instruction data and the target clock data to the flight control management computer according to a preset data recovery rule.
7. The method for processing power failure in the flight control management computer of the fixed-wing drone according to claim 6, wherein the loading the target state data, the target instruction data, and the target clock data to the flight control management computer according to preset data recovery rules includes:
according to a preset data recovery rule, determining that the target state data is the highest priority, the target instruction data is the middle priority and the target clock data is the lowest priority;
and loading the target state data, the target instruction data and the target clock data to the flight control management computer in sequence from high priority to low priority.
8. The method for processing power failure of the flight control management computer of the fixed-wing drone according to claim 7, wherein the loading the target state data, the target instruction data, and the target clock data to the flight control management computer in order of priority from high to low comprises:
acquiring data volume of the target state data, the target instruction data and the target clock data;
predicting according to the data quantity to obtain a first loading time length of the target state data, a second loading time length of the target instruction data and a third loading time length of the target clock data;
judging whether the starting process time length is greater than the sum of the first loading time length and the second loading time length;
if the target state data and the target instruction data are not greater than the first loading time, adding additional starting process time, wherein the sum of the starting process time and the additional starting process time is greater than the sum of the first loading time and the second loading time, and sequentially loading the target state data and the target instruction data to the flight control management computer according to the sequence of the priority from high to low;
if so, sequentially loading the target state data and the target instruction data to the flight control management computer from high priority to low priority;
judging whether the starting process time length minus the first loading time length and the second loading time length is larger than a third loading time length or not;
if not, giving up loading the target clock data;
and if so, loading the target clock data to the flight control management computer.
9. The utility model provides a fixed wing unmanned aerial vehicle's flight control management computer falls electric processing system which characterized in that includes:
the acquisition module is used for acquiring input and output data of the flight control management computer in real time when the flight control management computer performs flight control and management on the fixed-wing unmanned aerial vehicle;
the storage module is used for storing the input and output data to a data storage, and the input and output data stored by the data storage cannot be lost when the flight control management computer is powered off;
and the data loading module is used for recovering power supply after the flight control management computer is powered off and loading the input and output data of the data memory to the flight control management computer in the starting process.
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