CN114735201A - Undisturbed switching method and device for redundant flight control module of unmanned aerial vehicle - Google Patents
Undisturbed switching method and device for redundant flight control module of unmanned aerial vehicle Download PDFInfo
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- CN114735201A CN114735201A CN202210192044.3A CN202210192044A CN114735201A CN 114735201 A CN114735201 A CN 114735201A CN 202210192044 A CN202210192044 A CN 202210192044A CN 114735201 A CN114735201 A CN 114735201A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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Abstract
The invention provides a non-interference switching method and a non-interference switching device for redundant flight control modules of an unmanned aerial vehicle, wherein the device monitors the state of the opposite party by mutually sending PWM wave signals with preset frequency through a first flight control module and a second flight control module, when one flight control module fails, the other flight control module is set as a main control module, and data is always transmitted bidirectionally between the first flight control module and the second flight control module, so that the first flight control module can receive flight data transmitted by the second flight control module at the first time for synchronization after the first flight control module fails and then recovers the main control function, and the non-interference switching of the flight control of the unmanned aerial vehicle is realized.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle flight control, in particular to an undisturbed switching method and device for redundant flight control modules of an unmanned aerial vehicle.
Background
The unmanned plane is called unmanned plane for short, and is one kind of unmanned plane controlled by radio remote controller or its program controller. With the development of science and technology, the unmanned aerial vehicle technology is mature day by day, and the unmanned aerial vehicle is widely applied by the characteristics of high speed, flexible operation, wide application, low cost, good maneuvering performance and the like, thereby having extremely important function in modern wars and wider prospect in the civil field.
And unmanned aerial vehicle flies to control the module and is unmanned aerial vehicle's core again, to the unmanned aerial vehicle that uses single flight control module, if fly to control the module and appear unusually or the trouble at the flight in-process, will directly lead to unmanned aerial vehicle to fly to control and break down, will lead to unmanned aerial vehicle to take place the crash because of out of control, bring unnecessary economic loss and potential safety hazard.
In order to improve the availability and stability of an unmanned aerial vehicle flight control system, the invention patent with the application number of '201610969778.2' discloses an unmanned aerial vehicle flight control method and system, wherein at least two flight controllers are redundantly arranged in the system, and the method comprises the following steps: acquiring equipment configuration information of each flight controller; determining whether the current flight controller is a main flight controller or not according to the equipment configuration information of each flight controller; if the current flight controller is a main flight controller, synchronous processing is carried out on unmanned aerial vehicle flight state data and/or unmanned aerial vehicle task configuration data of the main flight controller; and issuing the data after synchronous processing to each standby flight controller so that each standby flight controller can back up the flight state data and/or the task configuration data of the unmanned aerial vehicle. According to the embodiment of the invention, the redundancy setting is carried out on the flight controller, so that the availability and the stability of the unmanned aerial vehicle flight control system are effectively improved.
However, the inventor finds that the main flight controller can only synchronize the flight data when the main flight controller is in a normal working state, and once the main flight controller fails to reset to the process of normal working, the main flight controller cannot receive any flight data, so that the state of the unmanned aerial vehicle cannot be effectively monitored when the main flight controller recovers the main control function, and certain potential safety hazards exist.
Therefore, after the main flight controller of the unmanned aerial vehicle breaks down, the undisturbed switching of the functions of each flight controller is realized, which is a technical problem that the technical personnel in the field need to solve urgently at present.
Disclosure of Invention
The invention provides a non-interference switching method and a non-interference switching device for redundant flight control modules of an unmanned aerial vehicle, which aim to overcome the defects in the prior art, wherein a first flight control module and a second flight control module mutually send PWM wave signals with preset frequency to monitor the state of the opposite party, when one flight control module fails, the other flight control module is set as a main control module, and data is always bidirectionally transmitted between the first flight control module and the second flight control module, so that after the first flight control module fails firstly and then recovers the main control function, the first flight control module can receive flight data transmitted by the second flight control module for synchronization at the first time, and the non-interference switching of the flight control of the unmanned aerial vehicle is realized.
In order to realize the purpose, the invention adopts the following specific technical scheme:
in a first aspect, the invention provides an undisturbed switching method for redundant flight control modules of an unmanned aerial vehicle, which is applied to an undisturbed switching device for the redundant flight control modules of the unmanned aerial vehicle, wherein the device comprises a first flight control module and a second flight control module;
the method comprises the following steps:
the first flight control module is set as a master control module, the second flight control module is set as a slave control module, and the first flight control module and the second flight control module mutually send PWM wave signals with preset frequency to monitor the state of the other party; the master control module is configured to respond to control commands of the drone, the slave control module is configured to not respond to control commands of the drone;
the first flight control module and the second flight control module respectively receive flight data of the unmanned aerial vehicle, which are acquired by a sensor, and respectively calculate based on the flight data to obtain a first operation result and a second operation result;
the first flight control module receives the second operation result, judges whether the received second operation result is consistent with the first operation result or not, and synchronizes the second operation result calculated by the second flight control module into the first operation result when the received second operation result is inconsistent with the first operation result;
when the PWM wave signal received by the second flight control module is interrupted or the frequency changes, the first flight control module is switched to a slave control module, the first flight control module is reset, and the second flight control module is switched to a master control module;
when the second flight control module receives the PWM wave signal which is sent by the first flight control module and accords with the preset frequency again, the first flight control module is switched back to the master control module again, and the second flight control module is switched from the master control module again.
As an alternative embodiment, the apparatus further includes a master-slave switching module, where the master-slave switching module includes a first pin and a second pin, and the method includes:
and the master-slave switching module realizes the switching of the master control module or the slave control module by changing the level signals of the first pin and the second pin.
As an alternative embodiment, the first flight control module includes a first memory module, and the second flight control module includes a second memory module;
the method comprises the following steps:
burning a control program into the first storage module;
after the unmanned aerial vehicle is started, the first flight control module acquires the control program in the first storage module and sends the control program to the second flight control module;
and the second flight control module stores the received control program to the second storage module.
As an alternative embodiment, the apparatus comprises a sensor for acquiring the flight data, the sensor comprising an IMU and/or a GPS and/or a pitot tube, the flight data comprising a drone three-axis attitude angle and/or three-dimensional position information, and/or airspeed.
As an alternative embodiment, the first operation result or the second operation result includes a roll angle, a pitch angle, a yaw angle, a triaxial acceleration, or a triaxial angular velocity.
As an alternative embodiment, the first flight control module and the second flight control module are respectively disposed on a same circuit board in a pluggable manner, and the method includes:
when one of the first flight control module or the second flight control module is removed from the circuit board, the first flight control module or the second flight control module, which remains connected to the circuit board, is automatically set as a main control module.
As an alternative embodiment, the apparatus further comprises a ground control center, and the method comprises:
and the ground control center sends a control command to the first flight control module or the second flight control module according to the physical address of the first flight control module or the second flight control module so as to adjust one of the first flight control module or the second flight control module as a master control module and the other one of the first flight control module or the second flight control module as a slave control module.
As an alternative embodiment, the determining whether the received second operation result is consistent with the first operation result includes: the master control module samples a second operation result calculated by the slave control module according to a preset sampling period frequency and judges whether the second operation result received in the same sampling period is consistent with the first operation result or not;
and/or, the step of judging the interruption or the change of the frequency of the PWM wave signal received by the second flight control module includes: and judging whether the PWM wave signal received by the second flight control module is interrupted or not or whether the frequency is changed or not in the same sampling period.
As an alternative embodiment, the apparatus further comprises a signal splitter, and the method further comprises:
and the signal splitter splits the flight data acquired by the sensor and transmits the split flight data to the first flight control module and the second flight control module.
In a second aspect, the present invention also provides an undisturbed switching apparatus for redundant flight control modules of an unmanned aerial vehicle, wherein the apparatus is configured to perform the method steps as set forth in the first aspect of the present invention.
The invention can obtain the following technical effects:
the invention provides an undisturbed switching method and a device for redundant flight control modules of an unmanned aerial vehicle. Because data are two-way transmission all the time between first flight control module and the second flight control module, therefore after first flight control module resumes the main control function, it can receive the flight data that the second flight control module transmitted at the very first time and carry out the synchronization, can effectively avoid losing of flight data, has realized unmanned aerial vehicle flight control's undisturbed switching.
Drawings
Fig. 1 is a flowchart of an undisturbed handover method for redundant flight control modules of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of an undisturbed handover method for redundant flight control modules of an unmanned aerial vehicle according to another embodiment of the present invention;
fig. 3 is a flowchart of an undisturbed handover method for redundant flight control modules of an unmanned aerial vehicle according to yet another embodiment of the present invention;
fig. 4 is a schematic block diagram of an undisturbed switching device for redundant flight control modules of an unmanned aerial vehicle according to another embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention.
Please refer to fig. 1, which is a flowchart of an undisturbed switching method for redundant flight control modules of an unmanned aerial vehicle according to an embodiment of the present invention, the method is applied to an undisturbed switching apparatus for redundant flight control modules of an unmanned aerial vehicle, and the apparatus includes a first flight control module and a second flight control module;
the method comprises the following steps:
firstly, step S101 is entered to set a first flight control module as a master control module, a second flight control module as a slave control module, and the first flight control module and the second flight control module mutually send PWM wave signals with preset frequency to monitor the state of the other party;
then, the first flight control module and the second flight control module respectively receive the flight data of the unmanned aerial vehicle acquired by the sensor and respectively calculate based on the flight data to obtain a first operation result and a second operation result in the step S102;
then, step S103 is executed, in which the first flight control module receives the second operation result, determines whether the received second operation result is consistent with the first operation result, and synchronizes the second operation result calculated by the second flight control module to the first operation result when the received second operation result is inconsistent with the first operation result;
then, step S104 is carried out, when the PWM wave signal received by the second flight control module is interrupted or the frequency changes, the first flight control module is switched to be the slave control module, the first flight control module is reset, and the second flight control module is switched to be the master control module;
and then, step S105 is performed, when the second flight control module receives the PWM wave signal which is sent by the first flight control module and conforms to the preset frequency again, the first flight control module is switched back to the master control module, and the second flight control module is switched from the master control module again.
In this embodiment, the master control module is configured to respond to control commands of the drone and the slave control module is configured to not respond to control commands of the drone. The control command to the drone may include attitude adjustment, data acquisition, start-stop control, and the like.
In this embodiment, the first flight control module and the second flight control module may be implemented by a flight controller, and the predetermined frequency of the PWM wave signal transmitted by the first flight control module and the second flight control module may be set according to actual needs. Preferably, the master control module and the slave control module transmit the PWM signals with the predetermined frequency by using a UART communication protocol. The interruption or frequency change of the PWM wave signal received by the second flight control module indicates that the current first flight control module has a fault, and the reasons for triggering the fault can be power failure, program runaway, line fault, crystal oscillator fault and the like.
In this embodiment, the device includes a sensor for collecting flight data, the sensor including an IMU and/or a GPS and/or a pitot tube, the flight data including a drone three-axis attitude angle and/or three-dimensional position information, and/or airspeed. Preferably, the first calculation result or the second calculation result includes a roll angle, a pitch angle, a yaw angle, a triaxial acceleration, or a triaxial angular velocity. After data acquired by the sensor are acquired, the first flight control module or the second flight control module calculates a rolling angle, a pitch angle, a yaw angle, a triaxial acceleration, a triaxial angular velocity and the like through extended Kalman filtering. In the embodiment, the intermediate variables for transmitting the attitude calculation and the state estimation between the master control module and the slave control module adopt an SPI communication protocol.
Preferably, the determining whether the received second operation result is consistent with the first operation result comprises: and the master control module samples the second operation result calculated by the slave control module according to the preset sampling period frequency and judges whether the second operation result received in the same sampling period is consistent with the first operation result. The first flight control module and the second flight control module can ensure real-time synchronization of flight data by uninterruptedly sampling the flight data of the other side, and when the first flight control module is reset and starts to work again after a fault occurs, the second flight control module can share the current flight data of the second flight control module to the first flight control module as the slave control module at the moment, so that data loss is effectively avoided, and undisturbed switching of the unmanned aerial vehicle control module is ensured.
In some embodiments, the apparatus further comprises a master-slave switching module, the master-slave switching module comprising a first pin and a second pin, the method comprising: the master-slave switching module realizes the switching of the master control module or the slave control module by changing the level signals of the first pin and the second pin. Preferably, the determining that the PWM wave signal received by the second flight control module is interrupted or the frequency of the PWM wave signal is changed includes: and judging whether the PWM wave signal received by the second flight control module is interrupted or not or whether the frequency is changed or not in the same sampling period. Like this, can guarantee when PWM ripples signal interruption or frequency change, the principal and subordinate switches over the module and can switch over the first flight control module of current trouble into from control module in time, and the second that is in normal operating condition at present flies to control module and switches over into main control module, guarantees to the control of unmanned aerial vehicle can normally go on.
For example, the master-slave switching module is provided with a pin a and a pin B, when the pin a is at a high level and the pin B is at a low level, the master-slave switching module inputs the control command through the pin IN1, and at the moment, the control command of an execution mechanism (such as a steering engine) of the unmanned aerial vehicle is sent out through the first flight control module; when the pin A is at a low level and the pin B is at a high level, the master-slave switching module inputs the control command through the pin IN2, and the control command of an actuating mechanism (such as a steering engine) of the unmanned aerial vehicle is sent out through the second flight control module. In a sampling period, the frequency of the PWM wave signal received by the slave control module from the master control module changes, and AB is 10 (pin A is high, pin B is low), and AB is 01 (pin A is low, pin B is high). The pin A is controlled by the master control module, the pin B is controlled by the slave control module, and the pin becomes low level when the flight control module is abnormal.
In certain embodiments, the first flight control module comprises a first memory module and the second flight control module comprises a second memory module. As shown in fig. 2, the method includes: firstly, entering step S201 to burn a control program into a first storage module; then, after the unmanned aerial vehicle is started in step S202, the first flight control module acquires the control program in the first storage module and sends the control program to the second flight control module; and then the second flight control module stores the received control program in the second storage module in step S203. Like this, control program only need burn once, and other control program that acquire through the communication and burn stores to when guaranteeing that arbitrary flight control module is set up to main control module, can in time call the control program in self storage module to control unmanned aerial vehicle's flight parameter.
In some embodiments, the first flight control module and the second flight control module are respectively disposed on a same circuit board in a pluggable manner, and the method includes: when one of the first flight control module or the second flight control module is taken down from the circuit board, the first flight control module or the second flight control module which is still connected with the circuit board is automatically set as a main control module. Therefore, when any one of the first flight control module or the second flight control module is taken down from the circuit board, the device can enter a single-flight control mode, namely the rest flight control modules which are still connected with the circuit board are set as the main control module to control the flight state of the unmanned aerial vehicle. In addition, the first flight control module and the second flight control module are arranged on the circuit board in a plug-in mode, and can be replaced in time when any flight control module is damaged, so that the maintenance cost of the equipment is reduced.
In some embodiments, the apparatus further comprises a ground control center, the method comprising: and the ground control center sends a control command to the first flight control module or the second flight control module according to the physical address of the first flight control module or the second flight control module so as to adjust one of the first flight control module or the second flight control module into a master control module and adjust the other one into a slave control module. In short, the switching of the master control module and the slave control module can be completed by sending a switching control command through the ground control center in addition to the automatic switching when the first flight control module fails, so that the operability of the redundant flight control module of the unmanned aerial vehicle is further improved.
In some embodiments, the apparatus further comprises a signal splitter, the method further comprising: and the signal splitter splits the flight data acquired by the sensor and transmits the split flight data to the first flight control module and the second flight control module. The flight data signals collected by the sensor are split by the signal splitter, so that the first flight control module and the second flight control module can receive completely consistent flight data signals in real time, and subsequent calculation of intermediate variables is facilitated.
As shown in fig. 4, in a second aspect, the present invention further provides an undisturbed switching arrangement for redundant flight control modules of a drone, the arrangement being configured to perform the method steps according to the first aspect of the present invention.
In FIG. 4, the apparatus includes two mutually redundant flight control modules, namely, flight control module A (i.e., the first mentioned flight control module) and flight control module B (i.e., the second mentioned flight control module). Taking the flight control module a on one side as an example, there are six signal ports a1, a2, A3, a4, a5, and a6, where a1, a2, A3, a4, and a5 are connected to the flight control module B, a6 is connected to an alternative selection module (i.e., the aforementioned master-slave switching module), and the alternative selection module includes four signal input ports (IN1, IN2, A, B) and one output port; a two-IN-one module (i.e., the aforementioned signal splitter) includes 1 input port IN and two output ports Q1, Q2.
The signal ports function as follows:
a1 signal ports: outputting a PWM wave signal with fixed frequency under the control of the flight control module A, so that the flight control module B can monitor the state of the flight control module A in real time;
signal ports a 2: inputting a PWM wave signal with fixed frequency output by the flight control module B to monitor the state of the flight control module B;
a3 signal ports: the system is a bidirectional port, after being powered on, a program in the flight control module A is synchronized to the flight control module B, and when the intermediate variable generated by the logical operation of the master control module and the slave control module is inconsistent in the flight process of the unmanned aerial vehicle, the master control module outputs the value of the intermediate variable generated by the logical operation to replace the value of the intermediate variable generated by the slave control module through the port;
signal ports a 4: outputting intermediate variables generated by internal logic operation of the flight control module A;
signal ports a 5: inputting intermediate variables generated by internal logic operation of the flight control module B;
signal ports a 6: when the flight control module A is a master control module, outputting high level, when the flight control module A is a slave control module or has a fault, outputting low level, and inputting a signal to select IN 1;
an alternative module: when the input of the port A is high level and the input of the port B is low level, selecting the port IN1 as input; when the input of the port A is low level and the input of the port B is high level, selecting the port IN2 as input;
a one-to-two module: data of the sensor is input from an IN port, and the data is divided into two parts and is respectively output to a flight control module A and a flight control module B through Q1 and Q2 ports;
when the single flight control mode (that is, only one flight control module needs to be used) works, the ports a1, a2, A3, a4 and a5 stop working, and the port a6 is at a high level (if the reserved flight control module a is). Fig. 3 is a flowchart of the operation of the apparatus shown in fig. 4. After the system is powered on, the flight control module A is set as a master control module in a default mode, the flight control module B is set as a slave control module, the flight control program only needs to be downloaded and installed into the flight control module A, and the flight control module B can automatically synchronize the program in the flight control module A. The master control module and the slave control module simultaneously acquire data from the sensors, and the steering engine and the pitching rolling control module are driven to only receive control instructions from the master control module. The master control module and the slave control module mutually send PWM wave signals with fixed frequency so as to monitor the state of the other party, and simultaneously compare and synchronize data (namely the first operation result and the second operation result) of attitude calculation and state estimation in a high-speed serial communication mode so as to ensure that the master control module and the slave control module have the same operation result at every moment. When the master control module breaks down, the slave control module can not receive PWM wave signals from the master control module or can receive wrong PWM wave signals, the slave control module is switched to the master control module, the original master control module is switched to the slave control module after being subjected to self-checking reset, and the driving steering engine, the pitching control module and the rolling control module can not receive instructions from the original master control module, so that the flight control redundancy switching is realized. When the original master control module is recovered to be normal, namely the current slave control module is switched to the master control module again, the master control module receives the PWM wave signal of the current slave control module (namely the original slave control module) again to realize state monitoring, and simultaneously synchronizes the data of the slave control modules so as to ensure that the master control module and the slave control module can realize undisturbed switching all the time.
In addition, in the application, data acquired by the master control module and the slave control module are acquired by dividing the same sensor into two parts, and periodic attitude calculation and state estimation data comparison and synchronization are performed, so that the master control module and the slave control module can always keep a common pace, and therefore, after master-slave switching is performed, input and output of the original slave control module are not different, and further, no disturbance of the output of the whole redundant flight control system is ensured, and the master-slave flight control is switched without disturbance.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
The above embodiments of the present invention should not be construed as limiting the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. The undisturbed switching method of the redundant flight control module of the unmanned aerial vehicle is characterized in that the method is applied to an undisturbed switching device of the redundant flight control module of the unmanned aerial vehicle, and the device comprises a first flight control module and a second flight control module;
the method comprises the following steps:
the first flight control module is set as a master control module, the second flight control module is set as a slave control module, and the first flight control module and the second flight control module mutually send PWM wave signals with preset frequency to monitor the state of the other party; the master control module is configured to respond to control commands of the drone, the slave control module is configured to not respond to control commands of the drone;
the first flight control module and the second flight control module respectively receive flight data of the unmanned aerial vehicle, which are acquired by a sensor, and respectively calculate based on the flight data to obtain a first operation result and a second operation result;
the first flight control module receives the second operation result, judges whether the received second operation result is consistent with the first operation result or not, and synchronizes the second operation result calculated by the second flight control module into the first operation result when the received second operation result is inconsistent with the first operation result;
when the PWM wave signal received by the second flight control module is interrupted or the frequency changes, the first flight control module is switched to a slave control module, the first flight control module is reset, and the second flight control module is switched to a master control module;
when the second flight control module receives the PWM wave signal which is sent by the first flight control module and accords with the preset frequency again, the first flight control module is switched back to the master control module again, and the second flight control module is switched from the master control module again.
2. The method of undisturbed switching for redundant flight control modules of unmanned aerial vehicles according to claim 1 wherein the apparatus further comprises a master slave switching module, the master slave switching module including a first pin and a second pin, the method comprising:
and the master-slave switching module realizes the switching of the master control module or the slave control module by changing the level signals of the first pin and the second pin.
3. The method of undisturbed switching for redundant flight control modules for unmanned aerial vehicles according to claim 1 wherein the first flight control module includes a first memory module and the second flight control module includes a second memory module;
the method comprises the following steps:
burning a control program into the first storage module;
after the unmanned aerial vehicle is started, the first flight control module acquires the control program in the first storage module and sends the control program to the second flight control module;
and the second flight control module stores the received control program to the second storage module.
4. The method of undisturbed switching for redundant flight control modules for drones according to claim 1 wherein said means includes sensors including IMU and/or GPS and/or pitot tube for acquiring said flight data including drone tri-axial attitude angle and/or three dimensional position information and/or airspeed.
5. The undisturbed switching method for redundant flight control modules of unmanned aerial vehicles according to claim 1 or claim 4 wherein the first or second calculations include roll angle, pitch angle, yaw angle, triaxial acceleration or triaxial angular velocity.
6. The undisturbed switching method for redundant flight control modules of an unmanned aerial vehicle as claimed in claim 1, wherein the first flight control module and the second flight control module are respectively pluggable on the same circuit board, the method comprising:
when one of the first flight control module or the second flight control module is removed from the circuit board, the first flight control module or the second flight control module, which remains connected to the circuit board, is automatically set as a main control module.
7. The method of undisturbed switching for redundant flight control modules for unmanned aerial vehicles according to claim 1 wherein the apparatus further includes a ground control center, the method including:
and the ground control center sends a control command to the first flight control module or the second flight control module according to the physical address of the first flight control module or the second flight control module so as to adjust one of the first flight control module or the second flight control module as a master control module and the other one of the first flight control module or the second flight control module as a slave control module.
8. The method of undisturbed handoff for redundant flight control modules of an unmanned aerial vehicle of claim 1 wherein,
judging whether the received second operation result is consistent with the first operation result comprises: the master control module samples a second operation result calculated by the slave control module according to a preset sampling period frequency and judges whether the second operation result received in the same sampling period is consistent with the first operation result or not;
and/or, the step of judging the interruption or the change of the frequency of the PWM wave signal received by the second flight control module includes: and judging whether the PWM wave signal received by the second flight control module is interrupted or not or whether the frequency is changed or not in the same sampling period.
9. The method of undisturbed switching for redundant flight control modules of an unmanned aerial vehicle of claim 1 wherein the apparatus further includes a signal splitter, the method further comprising:
and the signal splitter splits the flight data acquired by the sensor and transmits the split flight data to the first flight control module and the second flight control module.
10. An undisturbed switching arrangement for redundant flight control modules of a drone, wherein the arrangement is configured to perform the method steps of any one of claims 1 to 9.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115963764A (en) * | 2023-01-12 | 2023-04-14 | 中国地质调查局水文地质环境地质调查中心 | Monitoring data acquisition method and device, electronic equipment and storage medium |
| CN116909189A (en) * | 2023-07-21 | 2023-10-20 | 无锡艾而帆航空科技有限公司 | Redundant switching and parachute opening method, system, equipment and medium for unmanned aerial vehicle |
-
2022
- 2022-02-28 CN CN202210192044.3A patent/CN114735201A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115963764A (en) * | 2023-01-12 | 2023-04-14 | 中国地质调查局水文地质环境地质调查中心 | Monitoring data acquisition method and device, electronic equipment and storage medium |
| CN115963764B (en) * | 2023-01-12 | 2023-06-02 | 中国地质调查局水文地质环境地质调查中心 | Method and device for collecting monitoring data, electronic equipment and storage medium |
| CN116909189A (en) * | 2023-07-21 | 2023-10-20 | 无锡艾而帆航空科技有限公司 | Redundant switching and parachute opening method, system, equipment and medium for unmanned aerial vehicle |
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