CN115390432B - Redundancy unmanned aerial vehicle flight control system and flight control method - Google Patents
Redundancy unmanned aerial vehicle flight control system and flight control method Download PDFInfo
- Publication number
- CN115390432B CN115390432B CN202211326626.2A CN202211326626A CN115390432B CN 115390432 B CN115390432 B CN 115390432B CN 202211326626 A CN202211326626 A CN 202211326626A CN 115390432 B CN115390432 B CN 115390432B
- Authority
- CN
- China
- Prior art keywords
- flight control
- control computer
- cloud computing
- buses
- unmanned aerial
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a redundancy unmanned aerial vehicle flight control system and a flight control method. Each flight control computer is respectively connected with the other flight control computers and the motor driver through a plurality of groups of buses, and transmits the flight control quantity data packet obtained by calculation to the other flight control computers; and comparing the selected optimal flight control computer, and transmitting the calculated flight control quantity data packet to the motor controller. In addition, if all the flight control computers or buses are in failure in an extreme condition, the system can control the unmanned aerial vehicle to fly safely by using the cloud computing server. According to the invention, through the multi-redundancy structure of the sensor, the flight control computer and the bus, the unmanned aerial vehicle has stronger disaster tolerance and fault tolerance performance, and the safety and stability of the unmanned aerial vehicle are improved.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to a redundancy unmanned aerial vehicle flight control system and a flight control method.
Background
The unmanned aerial vehicle is applied in more and more extensive scenes, such as urban air traffic, electric power inspection, aerial photography and aerial survey, logistics express delivery, fire rescue and the like. Flight control system is crucial to many rotor unmanned aerial vehicle, and in case the flight control system became invalid at unmanned aerial vehicle flight in-process, unmanned aerial vehicle's flight task will can't accomplish even lead to the crash. In order to improve the stability of the flight control system, a redundancy technology is usually adopted to design the flight control computer system, and the essence is to shield the influence of a fault component by increasing redundancy resources.
Moreover, most redundancy flight control systems currently comprise a single redundancy decision module, a redundancy switching module or an actuation controller. For example, chinese patent application No. 202110591136.4 discloses a redundancy arbitration switching method, system and computer device for an unmanned aerial vehicle, the invention includes a TX2 system decision module and a redundancy switching circuit, once the TX2 system decision module or the redundancy switching circuit fails, the whole flight control system will have a single point failure phenomenon, and will not operate normally. For example, a chinese invention patent with application number 201711459689.4 discloses an unmanned aerial vehicle flight control system and a flight control method based on a distributed redundancy bus, wherein the invention includes an action controller module, and once the action controller module fails, the whole flight control system will have errors and cannot control the normal flight of the aircraft. At present, most redundancy flight control systems adopt a single-set bus design, and if a bus fails, disastrous consequences are brought to an unmanned aerial vehicle. In addition, most redundancy flight control systems adopt an architecture in which a plurality of flight control computers share one set of sensors, which is disadvantageous to the stability of the whole flight control system.
Therefore, there is a need to solve the technical problems of single point failure in a redundancy flight control system, sharing one set of sensor and single bus by multiple flight control computers.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a redundancy unmanned aerial vehicle flight control system and a flight control method. The method can solve the technical problems that a single point in a redundancy flight control system fails, and a plurality of flight control computers share one set of sensor and single bus.
The purpose of the invention is realized by adopting the following technical scheme:
a redundancy unmanned aerial vehicle flight control system comprises a plurality of flight control computing units, a cloud computing server and a cloud computing sensor data processing unit; all the flight control computing units have the same structure and comprise a flight control computer, and N IMUs, N magnetic compasses, N barometers and N GPS modules which are connected with the flight control computer, wherein N is a natural number and N is a natural number
3; the IMU acquires acceleration and angular velocity information of the multi-rotor unmanned aerial vehicle, the magnetic compass acquires direction information of the multi-rotor unmanned aerial vehicle, the barometer acquires altitude information of the multi-rotor unmanned aerial vehicle, and the GPS module acquires position and velocity information of the multi-rotor unmanned aerial vehicle; each flight control computer is respectively connected with other flight control computers and motor drivers through a plurality of groups of buses, the flight control quantity data packet obtained by the flight control quantity data packet calculated by the flight control computer is transmitted to the other flight control computers, then each flight control computer compares the flight control quantity data of all the flight control computers including the flight control computer, and the judgment that the flight control quantity data packet is self-true is madeIf the flight control quantity is not the optimal flight control computer, the flight control quantity obtained by self calculation is packaged into a data packet and transmitted to the motor controller; cloud computing server mainly used receive the sensor data that cloud computing sensor data processing unit sent and come to utilize these sensor data to calculate and obtain the flight control volume and send for motor drive, when cloud computing server will control unmanned aerial vehicle safety flight after receiving the alarm information that motor controller sent and come, cloud computing sensor data processing unit include sensor data processing computer, 5G data transmission module, IMU, magnetic compass, barometer and GPS, wherein 5G data transmission module is used for sending the sensor data that cloud computing sensor data processing unit gathered to cloud computing server.
Further, the alarm information is specifically information sent to the cloud computing server by the motor controller when all flight control computers or all buses are failed.
Further, the IMU includes an accelerometer and a gyroscope.
Furthermore, the cloud computing server is installed on the ground end and connected with the 5G network.
Specifically, the motor controller comprises a 5G data transmission module, and is used for sending alarm information to a cloud computing server and receiving a flight control quantity data packet sent by cloud computing under the extreme condition that all flight control computers or buses are failed.
Further, cloud computing sensor data processing unit install in the unmanned aerial vehicle organism.
A flight control method for a non-similar redundancy unmanned aerial vehicle comprises the following steps:
(1) Determining the priority of each flight control computer, and sequentially reducing the priority from the flight control computer 1 to the priority of the flight control computer N;
(2) Determining the priority of a sensor connected with the flight control computer, wherein the priorities of the sensors of the same type are sequentially reduced from the number 1 to the number N;
(3) Determining the priorities of a plurality of groups of buses, and sequentially reducing the priorities from bus 1 to bus N;
(4) Each flight control computer collects data of all sensors of the flight control computer, compares the data of the sensors of the same type to select healthy sensors for flight control calculation, and preferentially uses the sensors with high priority if a plurality of sensors of the same type are in a healthy state; the specific process of comparing and selecting healthy sensors is as follows: if the flight control computer finds that the data comparison results of the sensors of the same type are consistent, determining that each sensor is in a healthy state; if one sensor is inconsistent with other sensor data, determining that the sensor is in an unhealthy state, and silencing the sensor;
(5) Each flight control computer performs flight control calculation by using the acquired data of the health state sensor, obtains corresponding flight control quantity according to the calculation result, and encapsulates the flight control quantity obtained by the flight control computer into a data packet; respectively transmitting the data packet to other flight control computers through each group of buses for data comparison; meanwhile, each flight control computer analyzes the flight control quantity data packet transmitted by the other received flight control computers through each group of buses to obtain corresponding flight control quantity, and then sequentially compares the flight control quantity of each flight control computer in the redundancy flight control system with the flight control quantities of other flight control computers except the self in sequence from small to large according to the serial number until all comparison results are consistent, the health of the flight control computer is confirmed, and comparison operation is not performed; then comparing the corresponding sequence number of the healthy flight control computer with the sequence number of the flight control computer which performs comparison operation processing, if the sequence numbers are consistent, the flight control quantity of the optimal flight control computer is packaged into a data packet and transmitted to the motor controller, and if the sequence numbers are inconsistent, the flight control quantity of the optimal flight control computer is not packaged into the data packet and transmitted to the motor controller; if each flight control computer receives flight control quantity data packets transmitted by other flight control computers which cannot receive the flight control quantity data packets through a certain group of buses, determining that the group of buses are in an unhealthy state, and silencing the group of buses;
(6) After receiving a plurality of flight control quantity data packets through a plurality of groups of healthy buses, the motor controller analyzes the flight control quantity data packets transmitted by the buses with high priority to obtain flight control quantity, and then controls the motor to operate;
(7) If all the flight control computing units fail or buses fail, the motor driver cannot receive a flight control quantity data packet, the motor driver sends alarm information to the cloud computing server through the 5G data transmission module, and after the cloud computing server receives the alarm information, the sensor data sent by the cloud computing sensor data processing unit are used for computing to obtain a flight control quantity and sending the flight control quantity to the motor driver, so that the flight of the unmanned aerial vehicle is controlled.
The invention has the following beneficial effects:
(1) The invention contains a plurality of flight control computers, when one of the flight control computers in the system breaks down, no switching process is needed, and the motor driver directly utilizes the data transmitted by the other flight control computers to control the flight of the unmanned aerial vehicle, so that the invention has stronger disaster-tolerant and fault-tolerant performance and also improves the safety and the reliability of the flight of the unmanned aerial vehicle. The redundancy of the IMU, the magnetic compass, the barometer and the GPS multi-sensor is also realized, when one sensor fails, the flight control computer can select other healthy sensors of the same type to use, and the stability and the robustness of the whole system are improved.
(2) The invention does not contain a single redundant arbitration module, a redundant switching module or an action controller module, thereby avoiding the occurrence of single-point failure caused by the failure of the redundant arbitration module, the redundant switching module or the action controller module. Aiming at the extreme condition that all flight control computers fail or all buses fail, the invention provides a cloud control strategy to control safe flight of an airplane, so that the disaster tolerance and fault tolerance of the whole system are further improved. The invention carries out redundancy on the buses, when one group of buses of the system has faults, no switching process is needed, and other buses can ensure the normal operation of the whole system. Compared with a system with a single group of buses, the invention is more stable.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
Detailed Description
The invention is explained in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1, the embodiment of the invention relates to a redundancy unmanned aerial vehicle flight control system, which comprises a plurality of flight control computing units, a cloud computing server and a cloud computing sensor data processing unit; all the flight control computing units have the same structure and comprise a flight control computer, and N IMUs, N magnetic compasses, N barometers and N GPS modules which are connected with the flight control computer, wherein N is a natural number and N is a natural number
3; the IMU acquires acceleration and angular velocity information of the multi-rotor unmanned aerial vehicle, the magnetic compass acquires direction information of the multi-rotor unmanned aerial vehicle, the barometer acquires altitude information of the multi-rotor unmanned aerial vehicle, and the GPS module acquires position and velocity information of the multi-rotor unmanned aerial vehicle; each flight control computer is respectively connected with the other flight control computers and the motor driver through a plurality of groups of buses, a flight control quantity data packet obtained by the flight control quantity calculation is transmitted to the other flight control computers, then each flight control computer compares all flight control quantity data including the flight control quantity data, whether the flight control quantity data is the optimal flight control computer or not is judged, and if the flight control quantity data is the optimal flight control computer, the flight control quantity obtained by the flight control computer is packaged into a data packet and transmitted to the motor controller. The cloud computing server is mainly used for receiving IMU, magnetic compass, barometer and GPS sensor data sent by the cloud computing sensor data processing unit, calculating flight control quantity by utilizing the sensor data and sending the flight control quantity to the motor driver, and when receiving alarm information sent by the motor controller, the cloud computing server controls the unmanned aerial vehicle to fly safely. The cloud computing sensor data processing unit comprises a sensor data processing computer, a 5G data transmission module, an IMU, a magnetic compass, a barometer and a GPS, wherein the 5G data transmission module is used for acquiring the IMU and the magnetic compass acquired by the cloud computing sensor data processing unitThe barometer and the GPS sensor data are sent to a cloud computing server.
The alarm information is specifically information sent to the cloud computing server by the motor controller when all the flight control computers or all the buses are invalid.
The IMU includes an accelerometer and a gyroscope.
The cloud computing server is installed on the ground and connected with the 5G network.
The motor controller comprises a 5G data transmission module and is used for sending alarm information to the cloud computing server and receiving a flight control quantity data packet sent by cloud computing under the extreme condition that all flight control computers or buses are failed.
The cloud computing sensor data processing unit is installed on the unmanned aerial vehicle body.
A flight control method of a redundant unmanned aerial vehicle comprises the following steps:
(1) Determining the priority of each flight control computer, and sequentially reducing the priority from the flight control computer 1 to the priority of the flight control computer N;
(2) Determining the priority of a sensor connected with the flight control computer, wherein the priorities of the sensors with the same data type are sequentially reduced from the number 1 to the number N;
(3) Determining the priorities of a plurality of groups of buses, and sequentially reducing the priorities from bus 1 to bus N;
(4) Each flight control computer collects data of all sensors of the flight control computer, compares the data of the sensors of the same type to select healthy sensors for flight control calculation, and if the sensors of the same type are in a healthy state, the priority of the sensors is high; the specific process of selecting healthy sensors by comparison is as follows: if the flight control computer finds that the data comparison results of the sensors of the same type are consistent, determining that each sensor is in a healthy state; and if one sensor is inconsistent with the data of other sensors, determining that the sensor is in an unhealthy state.
(5) Each flight control computer performs flight control calculation by using the acquired data of the health state sensor, obtains corresponding flight control quantity according to the calculation result, and encapsulates the flight control quantity obtained by the flight control computer into a data packet; respectively transmitting the data packet to other flight control computers through each group of buses for data comparison; and simultaneously, each flight control computer analyzes the flight control quantity data packets transmitted by the other flight control computers and received by each group of buses to obtain corresponding flight control quantities, and then sequentially compares the flight control quantity of each flight control computer in the redundancy flight control system with the flight control quantities of other flight control computers except the self in sequence from small to large according to the serial numbers until all comparison results are consistent, the health of the flight control computer is confirmed, and the comparison operation is not performed. And then comparing the serial number of the healthy flight control computer with the serial number of the flight control computer which performs comparison operation processing, wherein if the serial numbers are consistent, the flight control quantity of the optimal flight control computer is packaged into a data packet and transmitted to the motor controller, and if the serial numbers are inconsistent, the flight control quantity of the optimal flight control computer is not packaged into the data packet and transmitted to the motor controller. And if each flight control computer cannot receive the flight control quantity data packet transmitted by other flight control computers through a certain group of buses, determining that the group of buses is in an unhealthy state, and silencing the group of buses. The method of the invention can only determine an optimal flight control computer by the distributed comparison operation of all the flight control computers, so that the sequence number of the optimal flight control computer is the same as that of the optimal flight control computer, and the others are different.
(6) After the motor controller receives a plurality of flight control quantity data packets through a plurality of groups of healthy buses, the flight control quantity data packets transmitted by the buses with high priority are analyzed to obtain flight control quantity, and then the motor is controlled to operate.
(7) When all the flight control computing units fail or buses fail completely, the motor driver cannot receive a flight control quantity data packet, then the motor driver sends alarm information to the cloud computing server through the 5G data transmission module, and after the cloud computing server receives the alarm packet information, sensor data sent by the cloud computing sensor data processing unit are used for computing to obtain flight control quantity and sent to the motor driver, so that flight control of the unmanned aerial vehicle is achieved.
Based on the above, the invention comprises a plurality of flight control computers, and when one of the flight control computers in the system fails, the fault does not need to be generated
In any switching process, the motor driver directly utilizes the data transmitted by the other flight control computers to control the flight of the unmanned aerial vehicle, so that the invention has stronger disaster-tolerant and fault-tolerant performance and improves the safety and the reliability of the flight of the unmanned aerial vehicle.
The invention also realizes the redundancy of the IMU, the magnetic compass, the barometer and the GPS multi-sensor, when one sensor fails, the flight control computer can select other healthy sensors of the same type for use, and the stability and the robustness of the whole system are improved.
The invention does not contain a single redundant arbitration module, a redundant switching module or an action controller module, thereby avoiding the occurrence of single-point failure caused by the failure of the redundant arbitration module, the redundant switching module or the action controller module.
Aiming at the extreme condition that all flight control computers fail or buses completely fail, the invention provides a cloud control strategy to control safe flight of an airplane, so that the disaster tolerance and fault tolerance of the whole system are further improved.
The invention carries out redundancy design on the buses, and when one group of buses has faults, other buses still can ensure the normal work of the whole system. Compared with the design of a single bus, the invention is more stable and reliable.
The above description is only a preferred embodiment of the invention, and is not intended to limit the invention. It will be apparent to any person skilled in the art that modifications may be made to the above-described embodiments or that equivalents may be substituted for elements thereof without departing from the scope of the invention. Modifications, equivalents and the like which do not depart from the technical spirit of the present invention should be construed as being included within the scope of the present invention.
Claims (7)
1. A redundancy unmanned aerial vehicle flight control system is characterized by comprising a plurality of flight control computing units, a cloud computing server and a cloud computing sensor data processing unit; all the flight control computing units have the same structure and comprise a flight control computer, and N IMUs, N magnetic compasses, N barometers and N GPS modules which are connected with the flight control computer, wherein N is a natural number and N is a natural number
3; the IMU acquires acceleration and angular velocity information of the multi-rotor unmanned aerial vehicle, the magnetic compass acquires direction information of the multi-rotor unmanned aerial vehicle, the barometer acquires altitude information of the multi-rotor unmanned aerial vehicle, and the GPS module acquires position and speed information of the multi-rotor unmanned aerial vehicle; each flight control computer is respectively connected with the other flight control computers and the motor driver through a plurality of groups of buses, a flight control quantity data packet obtained by the calculation of the flight control quantity data packet is transmitted to the other flight control computers, then each flight control computer compares the flight control quantity data of all the flight control computers including the flight control computer, judges whether the flight control computer is the optimal flight control computer, and if the flight control quantity data packet is the optimal flight control computer, the flight control quantity obtained by the calculation of the flight control computer is packaged into the data packet and transmitted to the motor controller; cloud computing server mainly used receive the sensor data that cloud computing sensor data processing unit sent and come to utilize these sensor data to calculate and obtain the flight control volume and send for motor drive, when cloud computing server will control unmanned aerial vehicle safety flight after receiving the alarm information that motor controller sent and come, cloud computing sensor data processing unit include sensor data processing computer, 5G data transmission module, IMU, magnetic compass, barometer and GPS, wherein 5G data transmission module is used for sending the sensor data that cloud computing sensor data processing unit gathered to cloud computing server.
2. The system according to claim 1, wherein the alarm information is information sent to the cloud computing server by the motor controller when all flight control computers fail or all buses fail.
3. The system of claim 1, wherein the IMU comprises an accelerometer and a gyroscope.
4. The system of claim 1, wherein the cloud computing server is installed on the ground and connected to a 5G network.
5. The system of claim 1, wherein the motor controller comprises a 5G data transmission module, and is configured to send alarm information to the cloud computing server and receive a flight control amount data packet sent by the cloud computing in an extreme case where all flight control computers or buses fail.
6. The system of claim 1, wherein the cloud computing sensor data processing unit is mounted on the unmanned aerial vehicle body.
7. A flight control method for a non-similar redundancy unmanned aerial vehicle is characterized by comprising the following steps:
(1) Determining the priority of each flight control computer, and sequentially reducing the priority from the flight control computer 1 to the priority of the flight control computer N;
(2) Determining the priority of a sensor connected with a flight control computer, wherein the priorities of the sensors of the same type are sequentially reduced from the number 1 to the number N;
(3) Determining the priorities of a plurality of groups of buses, and sequentially reducing the priorities from bus 1 to bus N;
(4) Each flight control computer collects data of all sensors of the flight control computer, compares the data of the sensors of the same type to select healthy sensors for flight control calculation, and preferentially uses the sensors with high priority if a plurality of the sensors of the same type are in a healthy state; the specific process of selecting healthy sensors by comparison is as follows: if the flight control computer finds that the data comparison results of the sensors of the same type are consistent, determining that each sensor is in a healthy state; if one sensor is inconsistent with other sensor data, determining that the sensor is in an unhealthy state, and silencing the sensor;
(5) Each flight control computer performs flight control calculation by using the acquired data of the health state sensor, obtains corresponding flight control quantity according to the calculation result, and encapsulates the flight control quantity obtained by the flight control computer into a data packet; respectively transmitting the data packet to other flight control computers through each group of buses for data comparison; meanwhile, each flight control computer analyzes the flight control quantity data packet transmitted by the other received flight control computers through each group of buses to obtain corresponding flight control quantity, and then sequentially compares the flight control quantity of each flight control computer in the redundancy flight control system with the flight control quantities of other flight control computers except the self in sequence from small to large according to the serial number until all comparison results are consistent, the health of the flight control computer is confirmed, and comparison operation is not performed; then comparing the corresponding sequence number of the healthy flight control computer with the sequence number of the flight control computer which performs comparison operation processing, if the sequence numbers are consistent, the flight control quantity of the optimal flight control computer is packaged into a data packet and transmitted to the motor controller, and if the sequence numbers are inconsistent, the flight control quantity of the optimal flight control computer is not packaged into the data packet and transmitted to the motor controller; if each flight control computer cannot receive the flight control quantity data packet transmitted by other flight control computers through a certain group of buses, determining that the group of buses are in an unhealthy state, and silencing the group of buses;
(6) After receiving a plurality of flight control quantity data packets through a plurality of groups of healthy buses, the motor controller analyzes the flight control quantity data packets transmitted by the buses with high priority to obtain flight control quantity, and then controls the motor to operate;
(7) If all the flight control computing units fail or buses fail, the motor driver cannot receive a flight control quantity data packet, the motor driver sends alarm information to the cloud computing server through the 5G data transmission module, and after the cloud computing server receives the alarm information, the sensor data sent by the cloud computing sensor data processing unit are used for calculating to obtain a flight control quantity and sending the flight control quantity to the motor driver, so that the flight of the unmanned aerial vehicle is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211326626.2A CN115390432B (en) | 2022-10-27 | 2022-10-27 | Redundancy unmanned aerial vehicle flight control system and flight control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211326626.2A CN115390432B (en) | 2022-10-27 | 2022-10-27 | Redundancy unmanned aerial vehicle flight control system and flight control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115390432A CN115390432A (en) | 2022-11-25 |
| CN115390432B true CN115390432B (en) | 2023-02-10 |
Family
ID=84127736
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211326626.2A Active CN115390432B (en) | 2022-10-27 | 2022-10-27 | Redundancy unmanned aerial vehicle flight control system and flight control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115390432B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115857399A (en) * | 2022-12-02 | 2023-03-28 | 之江实验室 | Many rotor unmanned aerial vehicle flight control system and many rotor unmanned aerial vehicle based on centralized redundancy |
| CN116661331B (en) * | 2023-08-02 | 2023-09-26 | 成都正扬博创电子技术有限公司 | Redundant flight control computer system utilizing software and hardware cooperation |
| CN116774570B (en) * | 2023-08-23 | 2023-11-07 | 成都飞航智云科技有限公司 | Redundancy data analysis method and system |
| CN117647925B (en) * | 2024-01-30 | 2024-04-09 | 成都正扬博创电子技术有限公司 | Redundancy flight control calculation method, device, equipment and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108107910B (en) * | 2017-12-28 | 2021-01-22 | 中航联创科技有限公司 | Unmanned aerial vehicle flight control system and method based on distributed redundancy bus |
| CN113608429A (en) * | 2021-06-16 | 2021-11-05 | 中电科芜湖通用航空产业技术研究院有限公司 | Distributed redundancy unmanned aerial vehicle |
| CN114138007A (en) * | 2021-11-05 | 2022-03-04 | 中国商用飞机有限责任公司 | Cloud backup-based flight management system and method |
| CN114721250A (en) * | 2022-04-20 | 2022-07-08 | 四川傲势科技有限公司 | Unmanned aerial vehicle flight control system |
| CN114610074B (en) * | 2022-05-10 | 2022-09-23 | 之江实验室 | Redundancy flight control system suitable for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle |
| CN114954972A (en) * | 2022-06-14 | 2022-08-30 | 上海沃兰特航空技术有限责任公司 | Avionics system of electric vertical lift aircraft |
-
2022
- 2022-10-27 CN CN202211326626.2A patent/CN115390432B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN115390432A (en) | 2022-11-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115390432B (en) | Redundancy unmanned aerial vehicle flight control system and flight control method | |
| CN107885219B (en) | Flight monitoring system and method for monitoring flight of unmanned aerial vehicle | |
| CN108107910B (en) | Unmanned aerial vehicle flight control system and method based on distributed redundancy bus | |
| EP3709181A2 (en) | Fly-by-wire systems and related operating methods | |
| US10745127B2 (en) | Systems and methods for execution of recovery actions on an unmanned aerial vehicle | |
| CN114610074B (en) | Redundancy flight control system suitable for multi-rotor unmanned aerial vehicle and multi-rotor unmanned aerial vehicle | |
| EP3369635B1 (en) | Vehicle control device and vehicle control system | |
| JP6506302B2 (en) | Method and apparatus for operating a mobile platform | |
| CN113156999B (en) | Cluster formation airplane abnormal fault level processing method, system and application | |
| CN101989945B (en) | Communication network for aircraft | |
| US11787425B2 (en) | Electronic control device and in-vehicle device | |
| US20160294882A1 (en) | Aircraft data networks | |
| CN104914872A (en) | Sensor dual-redundancy flight control computer system suitable for small civilian unmanned aerial vehicle | |
| US7689594B2 (en) | Vehicle management and mission management computer architecture and packaging | |
| WO2023045067A1 (en) | Flight control unit, aircraft control system and method, and aircraft | |
| EP3605258A1 (en) | Redundant fly-by-wire systems with fault resiliency | |
| CN112046783A (en) | Flight control method and system of three-IMU redundancy technology | |
| CN104199440B (en) | Four-unit three-bus redundancy heterogeneous GNC (guidance navigation control) system | |
| US8175759B2 (en) | Systems and methods for validating predetermined events in reconfigurable control systems | |
| CN113296531A (en) | Flight control system, flight control method and aircraft | |
| CN111077841A (en) | Unmanned aerial vehicle flight control system based on two CAN buses | |
| CN111907695A (en) | Redundant fly-by-wire system with fault resilience | |
| CN114625155B (en) | Triple redundancy management system and method for automatic driving software | |
| CN113009933A (en) | Control device and control method of aircraft and aircraft | |
| CN206877150U (en) | A kind of unmanned aerial vehicle control system and unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |