WO2022188433A1 - Dispositif et procédé de commande d'aéronef, et aéronef - Google Patents

Dispositif et procédé de commande d'aéronef, et aéronef Download PDF

Info

Publication number
WO2022188433A1
WO2022188433A1 PCT/CN2021/127687 CN2021127687W WO2022188433A1 WO 2022188433 A1 WO2022188433 A1 WO 2022188433A1 CN 2021127687 W CN2021127687 W CN 2021127687W WO 2022188433 A1 WO2022188433 A1 WO 2022188433A1
Authority
WO
WIPO (PCT)
Prior art keywords
flight
module
aircraft
sensor
data
Prior art date
Application number
PCT/CN2021/127687
Other languages
English (en)
Chinese (zh)
Inventor
赵德力
周双久
李�杰
黄璐璐
张书存
邹露星
Original Assignee
广东汇天航空航天科技有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Priority claimed from CN202110266813.5A external-priority patent/CN113009933B/zh
Priority claimed from CN202110548538.6A external-priority patent/CN113296532A/zh
Priority claimed from CN202110544342.XA external-priority patent/CN113296531A/zh
Application filed by 广东汇天航空航天科技有限公司 filed Critical 广东汇天航空航天科技有限公司
Publication of WO2022188433A1 publication Critical patent/WO2022188433A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions

Definitions

  • the present invention relates to the technical field of aircraft, in particular to a control device for an aircraft, a control method for an aircraft and an aircraft.
  • the aircraft usually needs to be provided with a control system to control the movement of the aircraft.
  • the control system of the aircraft generally includes a sensor and a CPU (Central Processing Unit), the sensor is used to perceive the attitude and position of the aircraft, and the CPU is used to process the data sent by the sensor, and generate and output the corresponding control information to the
  • the control module controls the aircraft accordingly.
  • FIG. 1 a block diagram of a flight control system in the prior art is shown.
  • the flight control system of a small unmanned aerial vehicle is generally provided with a set of sensors 101 and a CPU 102. When any one of these two parts fails
  • the control module 103 in the flight control system cannot operate normally, which may cause the aircraft to malfunction or even crash.
  • embodiments of the present invention are proposed to provide an aircraft control device, an aircraft control method and an aircraft that overcome the above problems or at least partially solve the above problems.
  • an embodiment of the present invention discloses a control device for an aircraft, including: a flight control module and a plurality of redundancy modules connected to each other;
  • the redundancy module includes a sensing module, a data processing module and a selective conduction device which are connected in sequence; the selective conduction device is connected with the processor in the adjacent redundancy module;
  • the data processing module in each redundancy module is used for receiving the sensing information sent by the sensing module, and determining a target data processing module, and outputting control information and enabling information for the sensing information and the target data processing module;
  • the selective conduction device is used to turn on the connection between the target data processing module and the flight control module according to the enabling information
  • the flight control module is configured to perform corresponding control based on the control information.
  • the multiple redundancy modules correspond to preset sorting information
  • the redundancy module is used to obtain the first working state information corresponding to itself and the second working state information corresponding to the remaining redundancy modules;
  • the redundancy module is configured to determine a target data processing module based on the first working state information, the second working state information and the sorting information.
  • the redundancy module is configured to determine whether there is a fault redundancy module based on the first working state information and the second working state information; if there is, determine the fault according to the sorting information.
  • the data processing module of the next redundancy module of the redundancy module is the target data processing module.
  • the selective conduction device is one or more of an AND logic gate component device, a triode, and a field effect transistor.
  • the selective conduction device includes a first input terminal, a second input terminal and a selection output terminal;
  • the data processing module includes a control information output terminal and an enabling information output terminal;
  • the first input terminal is connected to the control information output terminal in the same redundancy module; the second input terminal is connected to the enabling information output terminal of the sorting information group located in the latter redundancy module;
  • the selection output terminal is connected to the flight control module.
  • the first input terminal and the second input terminal of the selective conduction device are connected to a data processing module located in the same redundancy module.
  • the sensing module includes one or both of an attitude sensing device and a position sensing device.
  • one or both of the sensing module and the selective conduction device are integrated in the data processing module.
  • the embodiment of the present invention also discloses a control method for an aircraft, the aircraft includes: a flight control module and a plurality of redundancy modules connected to each other; the redundancy modules include a perception module, a data processing module and Selecting a conducting device; the selecting conducting device is connected to a processor in an adjacent redundancy module; the method includes:
  • the data processing module in each redundancy module receives the sensing information sent by the sensing module, determines a target data processing module, and outputs control information and enabling information for the sensing information and the target data processing module;
  • the selective conducting device conducts the connection between the target data processing module and the flight control module according to the enabling information
  • the flight control module performs corresponding control based on the control information.
  • An embodiment of the present invention further discloses an aircraft, and the aircraft includes the above-mentioned control device.
  • the present invention provides a flight control system, a flight control method and an aircraft.
  • the flight control system of the embodiment of the present invention is used to control an aircraft.
  • the flight control system includes a plurality of sensor groups, a plurality of processing units and a control unit.
  • Each of the processing units is connected to each of the sensor groups.
  • Each of the sensor groups is used to acquire sensing data.
  • Each of the processing units is configured to determine the flight state data of the aircraft according to the sensor data acquired by the sensor group.
  • the control unit is configured to receive the flight state data output by each of the processing units and to control the aircraft according to the flight state data.
  • each processing unit and each sensor group can be connected to each other, so that each processing unit can determine the flight state data according to the sensing data obtained by the sensor group, even if one of the sensor groups or processing units fails, the rest
  • the sensor group and processing unit can work normally and output flight status data to control the aircraft to avoid failure and crash of the aircraft.
  • the flight control system includes a first data bus connected to each of the sensor groups and a second data bus connected to each of the processing units, each of the first data buses being connected to each of the The second data bus is connected so that each of the processing units can receive the sensing data acquired by the respective sensor groups, and the control unit is connected with each of the second data buses so that the control unit The flight state data output by each of the processing units can be received.
  • each of the processing units is configured to determine whether each of the sensor groups is normal, and to assign the first sensor group of the normal sensor groups according to a preset sequence of the plurality of sensor groups The corresponding flight state data is output to the control unit.
  • each of the processing units is configured to perform variance calculation on the flight state data corresponding to the sensor group to obtain a variance value of each flight state data; compare each variance value with a preset value If the variance threshold is compared and the preset conditions are met, the sensor group corresponding to the variance value is considered to be normal.
  • control unit is configured to receive flight state data corresponding to each of the processing units, and determine the first processing unit in the received flight state data according to a preset sequence of the processing units corresponding to the flight state data, and control the aircraft according to the flight state data corresponding to the first processing unit.
  • each of the sensor groups includes an inertial sensor and a position sensor.
  • the flight control method of the embodiment of the present invention is used in a flight control system.
  • the flight control system includes a plurality of sensor groups, a plurality of processing units and a control unit, each of the processing units being connected to each of the sensor groups.
  • the flight control method includes: acquiring sensing data for each of the sensor groups; each of the processing units determining flight state data of the aircraft according to the sensing data acquired by the sensor groups; and control the aircraft according to the flight state data output by the processing unit.
  • each processing unit and each sensor group can be connected to each other, so that each processing unit can determine the flight state data according to the sensor data acquired by the sensor group, even if one of the sensor groups or processing units fails, the rest
  • the sensor group and processing unit can work normally and output flight status data to control the aircraft to avoid failure and crash of the aircraft.
  • each of the processing units determines the flight state data of the aircraft according to the sensing data acquired by the sensor groups, including: each of the processing units determines whether each of the sensor groups is normal ; output the flight state data corresponding to the first sensor group in the normal sensor groups to the control unit according to a preset sequence of the plurality of sensor groups.
  • determining whether each of the sensor groups is normal by each of the processing units includes: each of the processing units performs variance calculation on the flight state data corresponding to the sensor groups to obtain each flight status The variance value of the state data; each variance value is compared with a preset variance threshold, and if the preset conditions are met, the sensor group corresponding to the variance value is considered to be normal.
  • control unit receives the flight state data output by each of the processing units and controls the aircraft according to the flight state data, including: the control unit receives the data corresponding to each of the processing units flight status data; determine the flight status data corresponding to the first processing unit in the received flight status data according to the preset sequence of the processing units; according to the flight status data corresponding to the first processing unit Status data controls the aircraft.
  • the aircraft of the embodiment of the present invention includes an aircraft body and the flight control system of the above-mentioned embodiment, and the flight control system is provided on the aircraft body.
  • each processing unit and each sensor group can be connected to each other, so that each processing unit can determine the flight state data according to the sensor data acquired by the sensor group, even if one of the sensor groups or processing unit fails, the rest of the sensor groups And the processing unit can work normally and output flight status data to control the aircraft to avoid failure and crash of the aircraft.
  • An embodiment of the present invention discloses a flight control method for an aircraft, the aircraft includes at least two sets of sensor groups, and the method includes:
  • the flight of the aircraft is controlled by using the flight state data corresponding to the sensor group in the normal state.
  • the step of calculating the flight state data of the aircraft respectively by using the sensor data collected by the sensor groups, and obtaining the flight state data corresponding to each sensor group includes:
  • identifying the sensor group in a normal state according to the flight state data of all the sensor groups includes:
  • Each variance value is compared with a preset variance threshold, and if the preset conditions are met, it is considered that the sensor group corresponding to the variance value is in a normal state.
  • the step of controlling the flight of the aircraft by using the flight state data corresponding to the sensor group in a normal state includes:
  • the flight state data corresponding to the sensor group with the highest preset priority is used to control the flight of the aircraft.
  • An embodiment of the present invention also discloses a flight control device for an aircraft, the aircraft includes at least two sets of sensor groups, and the device includes:
  • a calculation module configured to calculate the flight state data of the aircraft respectively by using the sensor data collected by the sensor groups, and obtain the flight state data corresponding to each sensor group;
  • an identification module configured to identify the sensor group in a normal state according to the flight state data of all the sensor groups
  • the control module is used for controlling the flight of the aircraft by using the flight state data corresponding to the sensor group in a normal state.
  • the computing module includes:
  • the calculation sub-module is configured to perform combined navigation calculation on the sensor data collected by the sensor groups according to at least two types of sensor data collected by the sensor groups, and obtain flight state data corresponding to each sensor group.
  • the identification module includes:
  • a variance calculation submodule used for performing variance calculation on the flight state data corresponding to the sensor group to obtain the variance value of each flight state data
  • the identification sub-module is configured to compare each variance value with a preset variance threshold value, and if the preset condition is met, it is considered that the sensor group corresponding to the variance value is in a normal state.
  • control module includes:
  • the control sub-module is configured to use the flight state data corresponding to the sensor group with the highest preset priority among the sensor groups in a normal state according to the preset priority of the sensor group, to control the flight of the aircraft.
  • the embodiment of the present invention also discloses an aircraft, comprising:
  • Embodiments of the present invention further disclose one or more machine-readable media, on which instructions are stored, and when executed by one or more processors, cause the processors to execute one or more of the methods described in the embodiments of the present invention. a method.
  • the flight control module is provided with a plurality of redundancy modules, and each redundancy module includes a sensing module, a data processing module and a selective conduction device connected in sequence, and the selective conduction device is connected to the flight control module.
  • the control module is connected, and the sensing module is used to collect one or more sensing information, and transmit the sensing information to the data processing module connected to it.
  • the data processing module processes the sensing information to obtain corresponding control information, so that each redundancy module can generate control information.
  • the redundancy modules are connected and communicated with each other to determine the target data processing module.
  • the conduction device Selecting the conduction device to receive the control information output by each redundancy module and the enabling information for the target data processing module output by each redundancy module, and conduct the electrical connection between the target data processing module and the flight control module, And cut off the electrical connection between the remaining data processing modules and the flight control module, so that the target data processing module can send the control information generated by it to the flight control module.
  • the target data processing module and the sensing module connected to it are in normal working state. If the current target data processing module fails, a new target data processing module is determined, so that the flight control module can keep receiving the redundancy module from the normal working state. Group control information, thereby reducing the occurrence of aircraft loss of control or even crashes.
  • the flight state data of the aircraft are calculated respectively, and the flight state data corresponding to each sensor group is obtained; according to the flight state data of all the sensor groups, the normal state of the sensor group is identified. ; Use the flight state data corresponding to the sensor group in the normal state to control the flight of the aircraft. Therefore, the flight state data corresponding to the sensor group in the normal state can be selected from at least two of the sensor groups to perform flight control on the aircraft, so that the aircraft can use the redundant flight state data to control the aircraft, It is better to avoid errors in the sensor group, affecting the normal operation of the aircraft, and effectively improve the safety of the aircraft.
  • FIG. 1 is a structural block diagram of a control system of an aircraft in the prior art
  • FIG. 2 is a structural block diagram of an embodiment of a control device for an aircraft provided by an embodiment of the present invention
  • FIG. 3 is a structural block diagram of another embodiment of a control device for an aircraft provided by an embodiment of the present invention.
  • FIG. 4 is a flowchart of steps in an embodiment of an aircraft control method provided by an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a flight control system provided by an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of an aircraft provided by an embodiment of the present invention.
  • FIG. 7 is a schematic flowchart of a flight control method provided by an embodiment of the present invention.
  • FIG. 8 is a flow chart of steps of an embodiment of a flight control method for an aircraft according to an embodiment of the present invention.
  • FIG. 9 is a flowchart of steps of another embodiment of a flight control method for an aircraft according to an embodiment of the present invention.
  • FIG. 10 is a structural block diagram of an embodiment of a flight control device for an aircraft according to an embodiment of the present invention.
  • One of the core concepts of the embodiments of the present invention is that a plurality of redundancy modules are set in the control device of the aircraft, and each redundancy module can collect sensing information, and output corresponding control information for the sensing information.
  • the groups communicate with each other to obtain the status information of each redundancy module, determine the target data processing module when the redundancy module is faulty based on the status information, and select the enable information output by the conduction device for each redundancy module
  • the target processing module and the flight control module are turned on, so that the target data processing module can output control information generated by the target data processing module to the flight control module, and the flight control controls the aircraft accordingly according to the control information.
  • the control device includes: a flight control module 210 and a plurality of redundancy modules 220 connected to each other;
  • the redundancy module 220 includes a sensing module 221, a data processing module 222 and a selective conduction device 223 connected in sequence; the selective conduction device 223 is connected to the processor in the adjacent redundancy module 220;
  • the data processing module 222 in the degree module 220 is used to receive the perception information sent by the perception module 221, determine a target data processing module, and output control information and enabling information for the perception information and the target data processing module;
  • the selective turn-on device 223 is used to turn on the connection between the target data processing module and the flight control module 210 according to the enable information; the flight control module 210 is used to perform corresponding control based on the control information.
  • the flight control module 210 is provided with a plurality of redundancy modules 220, and each redundancy module 220 includes a sensing module 221, a data processing module 222 and a selective conduction device 223 connected in sequence,
  • the selective conduction device 223 is connected to the flight control module 210, and the sensing module 221 is used to collect one or more kinds of sensing information (for example, the attitude information and position information of the aircraft), and transmit the sensing information to the data processing module 222 connected to it.
  • the data processing module 222 processes the perception information to obtain corresponding control information, so that each redundancy module 220 can generate control information.
  • the redundancy modules 220 are connected and communicated with each other to determine the target data processing module.
  • the selective conduction device 223 receives the control information output by each redundancy module 220 and the enabling information for the target data processing module output by each redundancy module 220, and conducts the connection between the target data processing module and the flight control module 210.
  • the electrical connection between the remaining data processing modules 222 and the flight control module 210 is terminated, so that the target data processing module can send the control information generated by it to the flight control module 210 .
  • the target data processing module and the sensing module 221 connected to it are in a normal working state. If the current target data processing module fails, a new target data processing module is determined, so that the flight control module 210 can keep receiving messages from the remaining ones that are in a normal working state.
  • the control information of the degree module 220 is obtained, thereby reducing the occurrence of the aircraft losing control or even crashing.
  • the aircraft may be a manned aircraft, and the manned aircraft may further include multiple rotors and multiple motors, the flight control module 210 may control the working state of the motors, and the motors drive the rotors to rotate.
  • the data processing module 222 may include at least one CPU, and the CPU is connected to the sensing module 221 to receive and process sensing information generated by the sensing module 221 .
  • the embodiment of the present invention does not limit the type and performance of the CPU.
  • each redundancy module 220 may be connected to the same CAN (Controller Area Network, CAN, controller area network) bus to implement communication between the data processing modules 222.
  • CAN Controller Area Network
  • three redundancy modules 220 are disposed in a control device of the aircraft. It should be noted that, in practical applications, the number of the redundancy modules 220 may be determined according to actual requirements, and the embodiment of the present invention does not limit the number of the redundancy modules 220 .
  • the plurality of redundancy modules 220 correspond to preset sorting information; the redundancy modules 220 are used to obtain their corresponding first working state information and other redundancy modules The second working state information corresponding to the degree module 220; the redundancy module 220 is configured to determine the target data processing module based on the first working state information, the second working state information and the sorting information.
  • the redundancy module 220 can obtain the first working state information corresponding to itself and the second working state information of the other redundancy modules 220 except itself, wherein the working state information is related to the sensing module in each redundancy module 220.
  • 221 is matched with the data processing module 222, each redundancy module 220 communicates with each other, any redundancy module 220 can obtain the working status of other redundancy modules 220, and then according to the working status of the remaining redundancy modules 220, Determine the target data processing module, each redundancy module 220 generates corresponding enabling information for the target data processing module, so that the selective conduction device 223 conducts the electrical connection between the target data processing module and the flight control module 210, and closes the rest of the
  • the data processing module 222 is electrically connected to the flight control module 210 .
  • the redundancy module 220 is configured to determine whether there is a fault redundancy module 220 based on the first working state information and the second working state information; if so, Then, according to the sorting information, the data processing module 222 of the next redundancy module 220 of the fault redundancy module 220 is determined as the target data processing module.
  • Each redundancy module 220 has corresponding priority sorting information.
  • the data processing module 222 in the first redundancy module 220 in the sorting can be determined as the target data processing module according to the sorting information.
  • the redundancy module 220 can determine whether the corresponding redundancy module 220 is in a normal working state according to the working state information.
  • the data processing module 222 of the next redundancy module 220 corresponding to the current target data processing module is determined as the new target data processing module according to the sorting information , so that the control device can switch to the data processing module of the next redundancy module 220 according to the preset sorting information when the redundancy module 220 where the data processing module 222 currently electrically connected to the flight control module 210 is located fails.
  • 222 is connected with the flight control module 210 to ensure that the flight control module 210 of the aircraft can work normally and reduce the occurrence of aircraft accidents.
  • the selective conduction device 223 is one or more of an AND logic gate component device, a triode, and a field effect transistor.
  • the selective conduction device 223 includes a first input terminal, a second input terminal and a selection output terminal; the data processing module 222 includes a control information output terminal and an enable information output terminal The first input terminal is connected with the control information output terminal in the same redundancy module 220; the second input terminal and the sorting information group are located in the enabling information in the latter redundancy module 220 The output end is connected; the selection output end is connected with the flight control module 210 .
  • the selective conduction device 223 is configured to control the conduction state of the first input terminal and the selective output terminal based on the data received by the second input terminal. That is, the selective conduction device 223 determines the conduction state of the first input terminal and the selection output terminal based on the enable information. When the first input terminal and the selection output terminal are turned on, the selective conduction device 223 can receive the first input terminal The control information is output to the flight control module 210 .
  • the first input terminal of the selective conduction device 223 is connected to the data processing module 222 of the same redundancy module 220 to receive the control information generated by the data processing module 222 located in the same redundancy module 220; the second input terminal is connected to The data processing module 222 in the next redundancy module 220 determined according to the sorting information is connected to receive the enabling information output by the data processing module 222 of the subsequent redundancy module 220, so that the first remainder in the sorting information is divided
  • any redundancy module 220 can control the conduction state between the control information output terminal of the data processing module 222 of the previous redundancy module 220 and the flight control module 210 through the output enable information, so as to realize If the redundancy module 220 where the data processing module 222 currently connected to the flight control module 210 is located fails, the electrical connection between the data processing module 222 and the flight control module 210 can be changed by the next redundancy module 220 In the off state, the flight control module 210 is prevented from
  • the enabling information output by the next redundancy module 220 of the target data processing module controls the electrical power between the target data processing module and the flight control module 210.
  • the connection is on.
  • the first input terminal and the second input terminal of the selective conduction device 223 are located in the same redundancy module.
  • Data processing modules 222 in group 220 are connected.
  • the first input terminal and the second input terminal in the last redundancy module 220 are the same as the redundancy module.
  • Data processing modules 222 in group 220 are connected.
  • the data processing module 222 may be provided with two enable information output terminals and one control information output terminal.
  • the control information output terminal is the same as the one in the same redundancy module 220.
  • the first input terminal of the selective conduction device 223 is connected, wherein one of the enabling information output terminals is connected to the second input terminal of the selective conduction device 223 in the same redundancy module 220 to control the same redundancy module.
  • the electrical connection between the data processing module 222 of the 220 and the flight control module 210 is in a conductive state; the other enable information output terminal is connected to the second input terminal of the selective conduction device 223 of the previous redundancy module 220 to control the upper
  • the electrical connection between the data processing module 222 of the redundancy module 220 and the flight control module 210 is in a conductive state.
  • the sensing module 221 includes one or both of a posture sensing device and a position sensing device. It can be understood that the sensing module 221 may further include a sensor for sensing other information, which is not limited in this embodiment of the present invention.
  • one or both of the sensing module 221 and the selective conduction device 223 are integrated in the data processing module 222 .
  • the sensing module 221 and/or the selective conduction device 223 are integrated with the data processing module 222, thereby improving the integration degree of the flight control device and reducing the space occupied by the flight control device, so that the flight control device can be loaded on aircraft with smaller specifications, such as aerial photography without man-machine.
  • the sensing module as the sensor
  • the data processing module as the CPU
  • the selection conduction device as the AND logic gate
  • FIG. 3 a structural block diagram of another embodiment of a control device for an aircraft provided by an embodiment of the present invention is shown.
  • the control device for the aircraft includes a plurality of redundancy modules, and the nth redundancy module includes a sensor n. , CPUn and ANDn, for example, the first redundancy module includes sensor 1, CPU1 and AND1.
  • each AND logic gate has two inputs such as pin 1 (first input) and pin 2 (second input) and one output of pin 3 (selected output), 1 Pin No. 2 receives the control signal (control information) output by the CPU, and pin No. 2 inputs the enable signal (enable information) of the next-level CPU.
  • the No. 2 pin is input with a high level, the No.
  • the No. 3 pin directly outputs the control signal of the CPU to the flight control module 210 .
  • the No. 2 pin is input with a low level, the No. 1 pin and the No. 3 pin are cut off, and the flight control module 210 cannot receive the control signal received by the No. 1 pin of the AND logic gate.
  • Each CPU is connected to the CAN bus, and the CPUs communicate with each other through the CAN bus, and the CPUs can know the working status of themselves and other redundancy modules at the current moment. When any one or two of the CPUs fail, other CPUs can detect and deal with them in time.
  • the second redundancy module can cut off the control information output from the CPU of the first redundancy module to the flight control module 210, and at the same time the third redundancy module will be turned on Control information output of the second redundancy module.
  • the last redundancy module since there is no next-level redundancy module, its enable signal comes from itself, and it controls its own control information output.
  • the aircraft includes: a flight control module and a plurality of redundant modules connected to each other; the redundant modules include sequential A connected sensing module, a data processing module, and a selective conduction device; the selective conduction device is connected to a processor in an adjacent redundancy module; specifically, the following steps may be included:
  • Step 401 the data processing module in each redundancy module receives the sensing information sent by the sensing module, determines a target data processing module, and outputs control information and enabling information for the sensing information and the target data processing module; step Step 402 , the selective conduction device turns on the connection between the target data processing module and the flight control module according to the enable information; Step 403 , the flight control module performs corresponding control based on the control information.
  • Sub-step S11 the redundancy module obtains the first working state information corresponding to itself and the second working state information corresponding to the remaining redundancy modules; sub-step S12, the redundancy module is based on the first working state. information, the second working state information and the sorting information to determine the target data processing module.
  • the sub-step S12 includes: the redundancy module determines whether there is a fault redundancy module based on the first working state information and the second working state information; If it exists, the data processing module of the next redundancy module of the fault redundancy module is determined as the target data processing module according to the sorting information.
  • the selective conduction device is one or more of an AND logic gate component device, a triode, and a field effect transistor.
  • the selective conduction device includes a first input end, a second input end and a selection output end;
  • the data processing module includes a control information output end and an enable information output end;
  • the first input terminal is connected to the control information output terminal in the same redundancy module;
  • the second input terminal is connected to the enabling information output terminal of the sorting information group located in the latter redundancy module;
  • the selection output terminal is connected to the flight control module.
  • the first input terminal and the second input terminal of the selective conduction device are located in the same redundancy module connection to the data processing module.
  • the sensing module includes one or both of an attitude sensing device and a position sensing device.
  • one or both of the sensing module and the selective conduction device are integrated in the data processing module.
  • An embodiment of the present invention also provides an aircraft, which includes the control device, rotor, and motor as in the above-mentioned embodiments.
  • the rotor can be driven by a motor, and the flight control module can control the motor accordingly based on the control information output by the redundancy module to drive the rotor to rotate.
  • the manned aircraft can also include a pod and a shock-absorbing bracket, the rotor can be arranged on the top of the pod, the shock-absorbing bracket can be arranged on the bottom of the pod, and the pod can be used to carry the pilot and passengers to realize the manned function.
  • the flight control system 100 is used to control the aircraft 1000 .
  • the flight control system 100 includes a plurality of sensor groups 10 , a plurality of processing units 20 and a control unit 30 .
  • Each processing unit 20 is connected to a respective sensor group 10 .
  • Each sensor group 10 is used to acquire sensing data.
  • Each processing unit 20 is configured to determine the flight state data of the aircraft 1000 according to the sensor data acquired by the sensor group 10 .
  • the control unit 30 is used for receiving the flight state data output by each processing unit 20 and for controlling the aircraft 1000 according to the flight state data.
  • the CPU and sensors of the aircraft may be at risk of failure, such as the risk of abnormal defects in hardware design and software design.
  • the CPU and sensor of the aircraft fail, the aircraft will fail or even crash.
  • the aircraft of the related art is usually only equipped with a single CPU and a single sensor group. When any one of the single CPU and the single sensor group fails or has a problem, it is easy to cause the aircraft to fail or even crash.
  • the flight control system 100 of the embodiment of the present invention includes a plurality of sensor groups 10 and a plurality of processing units 20 , and each processing unit 20 and each sensor group 10 can be connected to each other, so that each processing unit 20 can
  • the sensor data determines the flight status data, even if one of the sensor groups 10 or the processing unit 20 fails, the remaining sensor groups 10 and the processing unit 20 can work normally and output the flight status data, so that the control unit 30 can operate according to the normal working processing unit 20.
  • the output flight state data controls the aircraft 1000 to prevent the aircraft 1000 from failing and crashing.
  • the aircraft 1000 in the embodiment of the present invention may be an unmanned aerial vehicle, a manned aircraft, etc., wherein, when the aircraft 1000 is a manned aircraft, there is a stronger safety requirement, and the technical solution of the present invention can effectively increase the aircraft 1000.
  • the safety of flight control enables the aircraft 1000 to achieve manned flight.
  • each sensor group 10 includes an Inertial Measurement Unit (IMU) and a position sensor.
  • Position sensors include position detection sensors such as Global Navigation Satellite System (GNSS) or Global Positioning System (Global Positioning System, GPS).
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • Each sensor group 10 may be used to independently detect sensory data of the aircraft 1000 , such as the attitude and position of the aircraft 1000 .
  • the sensor data of the aircraft 1000 also includes the flight speed of the aircraft 1000 , that is, the sensor group 10 may also be used to detect the flight speed of the aircraft 1000 .
  • both the processing unit 20 and the control unit 30 include a central processing unit (CPU), and each of the processing units 20 and the control unit 30 are independent computing units.
  • the models of the CPUs used by the processing unit 20 and the control unit 30 may be the same or different, which are not specifically limited herein.
  • the processing unit 20 can be configured to process the data of each sensor in the sensor group 10 , so as to determine the flight state data of the aircraft 1000 in combination with the data of each sensor in the sensor group 10 .
  • the flight state data of the aircraft 1000 includes, for example, the flight speed and the flight direction of the aircraft 1000 .
  • the flight state data of the aircraft 1000 may be a navigation result, and the navigation result is used to control the aircraft 1000 to fly to realize navigation.
  • Multiple sensor groups 10 may refer to: the number of sensor groups 10 is two or more.
  • the multiple processing units 20 may refer to: the number of processing units 20 is two or more.
  • the number of sensor groups 10 and the number of processing units 20 can be expanded according to the design requirements of the flight control system 100 to realize the flight control system 100 with any redundancy.
  • the number of sensor groups 10 and the number of processing units 20 may be the same or different.
  • Each processing unit 20 is connected to each sensor group 10. In this case, as long as any one of the processing units 20 and any one of the sensor groups 10 work normally, the aircraft 1000 can be controlled to avoid failure or even crash of the aircraft.
  • the flight control system 100 includes a first data bus 40 connected to each sensor group 10 and a second data bus 50 connected to each processing unit 20 .
  • Each first data bus 40 is connected with each second data bus 50 so that each processing unit 20 can receive sensing data acquired by each sensor group 10 .
  • the data bus (the first data bus 40 and the second data bus 50 ) is used to realize the connection between the processing unit 20 and the sensor group 10 , the connection lines between the processing unit 20 and the sensor 10 can be reduced, and wiring materials can be saved.
  • the data bus can facilitate data transmission between the processing unit 20 and the sensor group 10 , so that the design of the flight control system 100 with multiple sensor groups 10 and multiple processing units 20 is more reasonable, thereby ensuring the flight safety of the aircraft 1000 .
  • the connection of each first data bus 40 to each second data bus 50 enables the data bus to form a mesh structure, so that even if part of the data bus is damaged due to aging, external force, etc., the rest of the data bus can also be used. A normal connection will not cause the entire flight control system 100 to be paralyzed.
  • the data bus of the embodiment of the present invention may be, for example, a Controller Area Network (CAN) bus, wherein the processing unit 20 may be the master of the CAN bus, and the sensor group 10 may be the slave of the CAN bus, using the CAN bus protocol Data transmission between the processing unit 20 and the sensor group 10 can be realized.
  • CAN Controller Area Network
  • control unit 30 is connected to each of the second data buses 50 so that the control unit 30 can receive the flight status data output by each of the processing units 20 .
  • data transmission between the plurality of processing units 20 and the control unit 30 can be realized through the plurality of second data buses 50 , thereby facilitating the control unit 30 to control the aircraft 1000 according to the flight state data output by each of the processing units 30 .
  • each processing unit 20 may include a plurality of connection lines, and the plurality of connection lines are respectively connected to each sensor group 10 and the control unit 30 to realize data transmission. In this way, the data transmission among the sensor group 10 , the processing unit 20 and the control unit 30 is simpler and more convenient.
  • each processing unit 20 is used to determine whether each sensor group 10 is normal, and according to the preset order of the plurality of sensor groups 10, the normal sensor group 10 corresponding to the first sensor group The flight state data is output to the control unit 30 . In this way, each processing unit 20 can determine the corresponding flight state data according to the sensing data obtained by the normal sensor group 10 and output the flight state data to the control unit 30, so that the subsequent control unit 30 can perform the flight state data on the aircraft 1000 according to the flight state data. control.
  • the m sensor groups 10 are taken as an example for description. According to the preset order of the m sensor groups 10, they are sequentially arranged as follows: the first sensor group 10, the second sensor group 10, ..., the m-th sensor group 10. Each processing unit 20 determines whether each sensor group 10 is normal, so as to obtain all normal sensor groups 10 . According to the preset sequence of the m sensor groups 10 , the flight state data corresponding to the first sensor group 10 in all normal sensor groups 10 is transmitted to the control unit 30 . In this way, each processing unit 20 independently detects whether each sensor group 10 is normal and outputs corresponding flight state data to the control unit 30 .
  • each processing unit 20 can calculate all the flight state data corresponding to all the sensor groups 10, so as to facilitate the flight status data corresponding to the first sensor group 10 in the normal sensor groups 10 according to the preset sequence of the sensor groups 10.
  • the state data is output to the control unit 30 , which can quickly output the flight state data corresponding to the normal sensor group 10 , so as to avoid failure and crash of the aircraft 1000 .
  • each processing unit 20 is configured to perform variance calculation on the flight state data corresponding to the sensor group 10 to obtain a variance value of each flight state data; compare each variance value with a preset variance threshold If the comparison is made and the preset condition is satisfied, it is considered that the sensor group 10 corresponding to the variance value is normal.
  • the flight state data can be determined according to the sensor data detected by the sensor group 10 at different time points, and then it can be judged whether the change of the flight state data is large according to the variance value of the flight state data.
  • it is large it can be determined that the sensor group 10 is abnormal, and when the change of the flight state data is not large, it can be determined that the current sensor group 10 is normal. In this way, it can be determined whether the sensor group 10 is normal through the flight state data corresponding to a plurality of sensor data acquired by the sensor group 10 at different time points.
  • the sensor group 10 can collect data 100 times in 1 second to obtain 100 pieces of sensing data, then each processing unit 20 can receive 100 pieces of sensing data transmitted by the sensor group 10 and save them, and then according to the 100 pieces of sensing data 100 pieces of flight state data corresponding to each sensor data are calculated, and then the variance value of these 100 pieces of flight state data is calculated.
  • the average value of the 100 pieces of flight state data can be calculated first, and after the average value is obtained, the average of the square values of the differences between the 100 pieces of flight state data and the average value can be calculated to obtain the variance value. If the variance value of the 100 flight state data is less than the variance threshold, the sensor group 10 is considered normal; if the variance value of the 100 flight state data is greater than or equal to the variance threshold, the sensor group 10 is considered abnormal.
  • control unit 30 is configured to receive flight status data corresponding to each processing unit 20, and determine the flight status data corresponding to the first processing unit 20 in the received flight status data according to a preset sequence of the plurality of processing units 20. flight state data, and control the aircraft 1000 according to the flight state data corresponding to the first processing unit 20 . In this way, the control unit 30 can control the aircraft 1000 according to the flight state data output by the normal processing unit 20 , so that the aircraft 1000 can work normally.
  • n processing units 20 are taken as an example for description. According to the preset order of the n processing units 20 , they are sequentially arranged as follows: the first processing unit 20 , the second processing unit 20 , . . . , the nth processing unit 20 .
  • the control unit 30 is used to receive the flight status data corresponding to each processing unit 20, and determine whether the flight status data output by the current processing unit 20 can be received. If the control unit 30 can receive the flight status data output by the current processing unit 20, Then it means that the current processing unit 20 is normal. If the control unit 30 cannot receive the flight status data output by the current processing unit 20, it means that the current processing unit 20 is abnormal (for example, the current processing unit 20 may crash or the load is too high.
  • the control unit 30 can detect whether each processing unit 20 is normal and control the aircraft 1000 according to the normal processing unit 20 .
  • Flight control methods can be used in the flight control system 100 of any one of the above embodiments. Flight control methods may be used to control aircraft 1000 .
  • the flight control system 100 includes a plurality of sensor groups 10 , a plurality of processing units 20 and a control unit 30 , and each processing unit 20 is connected to each sensor group 10 . Flight control methods include:
  • Each sensor group 10 acquires the sensing data of the aircraft 1000;
  • Each processing unit 20 determines the flight state data of the aircraft 1000 according to the sensing data acquired by the sensor group 10;
  • the control unit 30 receives the output of each processing unit 20 and control the aircraft 1000 according to the flight state data.
  • the flight control method of the embodiment of the present invention can be implemented by the flight control system 1000 of the embodiment of the present invention, wherein step 01 can be realized by the sensor group 10, step 02 can be realized by the processing unit 20, and step 03 can be realized by the control unit 30.
  • the flight control system 100 includes a plurality of sensor groups 10 and a plurality of processing units 20, and each processing unit 20 and each sensor group 10 can be connected to each other, so that each processing unit 20 can The sensor data acquired by the group 10 determines the flight state data, even if one of the sensor groups 10 or the processing unit 20 fails, the remaining sensor groups 10 and the processing unit 20 can work normally and output the flight state data, so that the control unit 30 can The flight state data output by the working processing unit 20 controls the aircraft 1000 to prevent the aircraft 1000 from failing and crashing.
  • step 02 includes:
  • Each processing unit 20 determines whether each sensor group 10 is normal; 024: According to the preset sequence of the plurality of sensor groups 10, the flight state data corresponding to the first sensor group 10 in the normal sensor groups 10 is output to the control unit 30.
  • step 022 includes:
  • Each processing unit 20 performs variance calculation on the flight state data corresponding to the sensor group 10, and obtains the variance value of each flight state data;
  • 0224 Compares each variance value with a preset variance threshold to satisfy the predetermined variance value. If the conditions are set, it is considered that the sensor group 10 corresponding to the variance value is normal.
  • step 03 includes:
  • 032 the control unit 30 receives the flight status data corresponding to each processing unit 20; 034: determines the flight status data corresponding to the first processing unit 20 in the received flight status data according to the preset sequence of the plurality of processing units 20; 036 : Control the aircraft 1000 according to the flight state data corresponding to the first processing unit 20 .
  • Step 022 , Step 024 , Step 0222 , and Step 0224 may be implemented by the processing unit 20
  • Step 032 , Step 034 , and Step 036 may be implemented by the control unit 30 .
  • flight control system 1000 is also applicable to the flight control method of the present invention, and is not described in detail here to avoid redundancy.
  • the aircraft 1000 includes the flight control system 100 and the aircraft body 600 according to any one of the above embodiments.
  • the flight control system 100 is provided on the aircraft body 600 .
  • the aircraft body 600 includes, for example, a frame and a power unit (eg, motor, rotor, propeller, etc.) connected to the frame, which will not be described in detail here.
  • a power unit eg, motor, rotor, propeller, etc.
  • the flight control system 100 includes a plurality of sensor groups 10 and a plurality of processing units 20, and each processing unit 20 and each sensor group 10 can be connected to each other, so that each processing unit 20 can
  • the sensor data acquired by 10 determines the flight state data, even if one of the sensor groups 10 or the processing unit 20 fails, the remaining sensor groups 10 and the processing unit 20 can work normally and output the flight state data, so that the control unit 30 can work according to the normal operation.
  • the flight state data output from the processing unit 20 of the 1000C controls the aircraft 1000 to prevent the aircraft 1000 from failing and crashing.
  • flight control system 1000 is also applicable to the aircraft 1000 of the present invention, and is not described in detail here to avoid redundancy.
  • the flight state data of the aircraft is calculated separately by using the sensor data collected by the sensor groups, and the flight state data corresponding to each sensor group is obtained. Thereafter, the sensor group in a normal state can be identified according to the flight state data of all the sensor groups, and the flight of the aircraft can be controlled by using the flight state data corresponding to the sensor group in the normal state. Therefore, errors in the sensor group can be better avoided, affecting the normal operation of the aircraft, and the safety of the aircraft can be effectively improved.
  • FIG. 8 a flow chart of steps of an embodiment of a flight control method for an aircraft according to an embodiment of the present invention is shown, and the aircraft may include at least two sets of sensor groups.
  • the method may specifically include the following steps:
  • Step 801 using the sensor data collected by the sensor groups, calculate the flight state data of the aircraft respectively, and obtain the flight state data corresponding to each sensor group;
  • the aircraft may have at least two sets of sensor groups.
  • Each of the sensor groups may include a variety of different types of sensors. So that the aircraft can know the current flight state of the aircraft based on the sensor data collected by the sensor group.
  • sensors can be used to collect relevant data generated during the operation of the aircraft.
  • a sensor as used herein may refer to any object or device used to gather information about the environment. Sensors can be of various types (eg, biological, optical, chemical, mechanical, etc.) and can detect and/or measure objects, events, stimuli, and conditions. Both living and inanimate objects may have various sensors for collecting information about the environment. For example, for humans, optical sensors (eg, eyes) can be used to obtain up to 80% of external sensory information. For imaging devices (eg, cameras), optical sensors (eg, CCD image sensors) may be used to capture images. Optical sensors may also be referred to as image sensors.
  • the sensor group may include inertial measurement components such as accelerometers, angular velocity meters, etc., and positioning modules such as GPS (Global Positioning System, global positioning system) modules, Galileo positioning modules, GLONASS positioning modules, Beidou positioning modules, and quasi-positioning modules.
  • GPS Global Positioning System, global positioning system
  • Galileo positioning modules Galileo positioning modules
  • GLONASS positioning modules Beidou positioning modules
  • quasi-positioning modules Galith positioning module, etc.
  • Zenith positioning module, etc. can also include compass, barometer, optical sensor, ultrasonic module, lidar, etc.
  • the sensors included in each of the sensor groups may be the same. Therefore, the aircraft can use the sensor data collected by the sensor groups to calculate the flight state data of the aircraft respectively, and obtain the flight state data corresponding to each sensor group. Thus, at least two sets of flight state data corresponding to the sensor groups can be obtained.
  • the flight state data may include flight attitude data such as pitch angle, roll angle, yaw angle, etc., flight speed data such as speed, acceleration, angular velocity, etc., and flight position data. According to the flight status data, the current flight status of the aircraft can be known more clearly, so as to control the flight of the aircraft.
  • Step 802 according to the flight state data of all sensor groups, identify the sensor group in a normal state
  • the flight control of the aircraft is basically controlled based on the flight state data corresponding to the sensor group, the flight state data can obviously affect whether the aircraft can accurately perform the flight control, affect the safety of the aircraft. Therefore, it is necessary to ensure that the sensor data collected by the sensor group and the flight state data obtained based on the sensor data have high accuracy.
  • the sensor group in a normal state can be identified according to the flight state data of all the sensor groups.
  • its corresponding flight state data can be considered to have high accuracy, and the aircraft can be controlled to fly based on its flight state data.
  • the flight state data corresponding to the sensor group can be determined whether the flight state data corresponding to the sensor group is stable, and if the flight state data is stable, it can be considered that the The sensor group can stably provide the aircraft with flight state data obtained based on the sensing data, and the sensor group is in a normal state. For example, it can be determined whether the flight state data is within a value range. If the flight state data is within a value range, it can be considered that the flight state data is stable, the flight state data does not have abnormal data, and the sensor group is in a normal state. For another example, the flight state data can be compared within a period of time. If the flight state data is stable and there is no abnormal fluctuation, it can be considered that the flight state data is stable and the flight state data does not appear. Abnormal data, the sensor group is in a normal state.
  • Step 803 Control the flight of the aircraft by using the flight state data corresponding to the sensor group in a normal state.
  • flight state data corresponding to at least one sensor group in a normal state may be selected from the sensor group to control the flight of the aircraft. Therefore, the aircraft can use the reliable flight state data to control the aircraft, so as to ensure the high safety of the aircraft.
  • the flight state data of the aircraft is calculated respectively by using the sensor data collected by the sensor groups, and the flight state data corresponding to each sensor group is obtained;
  • the flight state data is used to identify the sensor group in a normal state;
  • the flight state data corresponding to the sensor group in a normal state is used to control the flight of the aircraft. Therefore, the flight state data corresponding to the sensor group in the normal state can be selected from at least two of the sensor groups to perform flight control on the aircraft, so that the aircraft can use the redundant flight state data to control the aircraft, It is better to avoid errors in the sensor group, affecting the normal operation of the aircraft, and effectively improve the safety of the aircraft.
  • FIG. 9 a flow chart of steps in an embodiment of a flight control method for an aircraft according to an embodiment of the present invention is shown, and the aircraft may include at least two sets of sensor groups.
  • the method may specifically include the following steps:
  • Step 901 according to at least two types of sensing data collected by the sensor group, respectively perform combined navigation calculation on the sensing data collected by the sensor group, to obtain flight state data corresponding to each sensor group;
  • the aircraft may have at least two sets of sensor groups.
  • Each of the sensor groups may include a variety of different types of sensors.
  • the sensors included in each of the sensor groups may be the same.
  • combined navigation calculation can be performed on the sensor data collected by the sensor groups, respectively, to obtain flight state data corresponding to each sensor group.
  • flight state data corresponding to each sensor group can be obtained.
  • the sensor group can collect a variety of different types of sensing data, and the aircraft can adopt a combined navigation method.
  • flight status data of the aircraft For example, the air pressure data collected by the barometer and the position data collected by the GPS can be combined to calculate the more accurate flight altitude data.
  • one speed data may be determined based on several position data collected by the GPS module, and another speed data may be determined based on the acceleration data collected by the accelerometer, combined with the direction data detected by the compass, to comprehensively obtain relatively accurate flight speed data.
  • Step 902 identifying the sensor group in a normal state according to the flight state data corresponding to the sensor group;
  • the step of identifying the sensor group in a normal state according to the flight state data of all the sensor groups including:
  • Sub-step S21 performing variance calculation on the flight state data corresponding to the sensor group to obtain the variance value of each flight state data
  • the sensor group can continuously collect the sensing data, so that the aircraft can use the sensing data to continuously generate the flight state data.
  • the change of the flight state data corresponding to the sensor group may generally be relatively stable within a preset period of time. In this way, variance calculation can be performed on the flight state data collected by the sensor group within a period of time, so as to obtain the variance value of each flight state data.
  • the average value of at least one of the flight state data corresponding to the sensor group may be calculated first, and after the average value is obtained by calculation, the difference between the flight state data and the average value may be calculated.
  • the average of the squared values of the differences yields the variance value.
  • each variance value is compared with a preset variance threshold, and if a preset condition is satisfied, it is considered that the state of the sensor group corresponding to the variance value is normal.
  • the variance value it is known whether the flight state data of the sensor group for a period of time is concentrated in a certain data range, so as to determine whether the flight state data is normal. If the flight state data is relatively concentrated within a certain data range, it can be considered that there is basically no abnormal data in the flight state data, and the flight state data is relatively concentrated, so it can be considered that the flight state data is relatively stable , the sensor group is in a normal state.
  • flight status data is not relatively concentrated in a certain data range, but there is a relatively obvious deviation, it can be considered that there may be some abnormal data in the flight status data, causing the flight status data to fluctuate, then It can be considered that the flight state data is abnormal, and the sensor group is not in a normal state.
  • a variance threshold can be set to evaluate whether the flight state data is relatively concentrated and there is no abnormality.
  • Each variance value may be compared with a preset variance threshold, respectively, to determine whether the flight state data corresponding to the sensor group is stable. If the preset conditions are met, it can be considered that the sensor group corresponding to the variance value is in a normal state.
  • the preset condition may be that the variance value is greater than the variance threshold, the square of the variance value is greater than the variance threshold, etc., which is not limited in the present invention.
  • the variance group of the flight state data satisfies a preset condition, it may be considered that the flight state data is normal, and the sensor group corresponding to the variance value is in a normal state. If the variance group of the flight state data does not satisfy the preset condition, it may be considered that the flight state data is abnormal, and the state of the sensor group corresponding to the variance value is abnormal.
  • Step 903 Control the flight of the aircraft by using the flight state data corresponding to the sensor group in a normal state.
  • the step of controlling the flight of the aircraft by using the flight state data corresponding to the sensor group in a normal state includes:
  • Sub-step S31 according to the preset priority of the sensor group, control the aircraft to fly by using the flight state data corresponding to the sensor group with the highest preset priority among the sensor groups in a normal state.
  • the sensor group may be preset with a priority.
  • the flight of the aircraft may be controlled preferentially by the sensor group with higher priority.
  • the flight state data corresponding to the sensor group with the highest preset priority among the sensor groups in the normal state can be used to control the flight of the aircraft.
  • the priority of the sensor groups may be preset as A1>A2>A3.
  • the flight state data corresponding to the sensor group A1 can be used to control the aircraft to fly. If the sensor group A1 is not in the normal state, it is determined whether the sensor group A2 is in the normal state. If the sensor group A2 is in the normal state, the sensor group A2 is used to control the flight of the aircraft.
  • the flight state data corresponding to the sensor group with a higher priority can continue to be used, and the aircraft can be controlled to perform flight adjustment to avoid the sensor group.
  • the possible data error between them affects the normal operation of the manned UAV.
  • the step of controlling the flight of the aircraft by using the flight state data corresponding to the sensor group in a normal state includes:
  • Sub-step S41 if the current default described sensor group is in a normal state, adopt the flight state data corresponding to the current default described sensor group, control the aircraft to carry out flight adjustment;
  • the aircraft may use one sensor group from at least two of the sensor groups as the current default sensor group.
  • the flight state data corresponding to the current default sensor group can continue to be used to control the aircraft to perform flight adjustment to avoid possible data between the sensor groups
  • the error affects the normal operation of the manned UAV.
  • Sub-step S42 if the current default sensor group is not in a normal state, take other sensor groups in a normal state as the new current default sensor group, and use the new current default sensor group corresponding to the sensor group. and control the aircraft to perform flight adjustment.
  • the current default sensor group if the current default sensor group is not in a normal state, the sensor group cannot be used normally at this time. In order to ensure the safety of the aircraft, the current default sensor group needs to be switched to The other sensor groups are in normal state. Therefore, the other sensor groups in normal state can be used as the new current default sensor group, and the flight state data corresponding to the new current default sensor group can be used to control the aircraft to perform flight adjustment, It is ensured that the aircraft can use safe and stable data to control the flight of the aircraft.
  • the sensor group that is located after the current default sensor group and is in a normal state may be sequentially searched according to a preset use sequence, as a new current default sensor group.
  • a use sequence of the sensor group may be preset, so that in the case of a failure of the aircraft, the switching of the sensor group may be efficiently completed. Therefore, when the current default sensor group is faulty, the sensor group that is located after the current default sensor group and is in a normal state can be sequentially searched according to the preset order of use, as the new current sensor group. The default sensor group, completes the switching of the current default sensor group.
  • each group of sensors is obtained.
  • the flight state data of all sensor groups identify the sensor group in the normal state; use the flight state data corresponding to the sensor group in the normal state to control the flight of the aircraft so that it can fly in the normal state.
  • the flight state data corresponding to the sensor group in the normal state is selected to adjust the aircraft in flight, so that the aircraft can use the redundant flight state data to control the aircraft, which is better. Errors in the sensor group are avoided, affecting the normal operation of the aircraft, and the safety of the aircraft is effectively improved.
  • FIG. 10 a structural block diagram of an embodiment of a flight control device for an aircraft according to an embodiment of the present invention is shown.
  • the aircraft includes at least two sets of sensor groups, and the device may specifically include the following modules:
  • the calculation module 1001 is configured to use the sensor data collected by the sensor groups, respectively calculate the flight state data of the aircraft, and obtain the flight state data corresponding to each sensor group;
  • An identification module 1002 configured to identify the sensor group in a normal state according to the flight state data of all the sensor groups
  • the control module 1003 is configured to use the flight state data corresponding to the sensor group in a normal state to control the flight of the aircraft.
  • the computing module includes:
  • the calculation sub-module is configured to perform combined navigation calculation on the sensor data collected by the sensor groups according to at least two types of sensor data collected by the sensor groups, and obtain flight state data corresponding to each sensor group.
  • the identification module includes:
  • a variance calculation sub-module for performing variance calculation on the flight state data corresponding to the sensor group to obtain a variance value of each flight state data; an identification sub-module for comparing each variance value with a preset variance threshold If the comparison is made and the preset conditions are met, it is considered that the sensor group corresponding to the variance value is in a normal state.
  • control module includes:
  • the control sub-module is configured to use the flight state data corresponding to the sensor group with the highest preset priority among the sensor groups in a normal state according to the preset priority of the sensor group, to control the flight of the aircraft.
  • the embodiment of the present invention also provides an aircraft, including:
  • Embodiments of the present invention further provide one or more machine-readable media, on which instructions are stored, and when executed by one or more processors, cause the processors to perform the methods described in the embodiments of the present invention.
  • embodiments of the embodiments of the present invention may be provided as a method, an apparatus, or a computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media having computer-usable program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.
  • Embodiments of the present invention are described with reference to flowcharts and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the present invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing terminal equipment to produce a machine that causes the instructions to be executed by the processor of the computer or other programmable data processing terminal equipment Means are created for implementing the functions specified in the flow or flows of the flowcharts and/or the blocks or blocks of the block diagrams.
  • These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal equipment to operate in a particular manner, such that the instructions stored in the computer readable memory result in an article of manufacture comprising instruction means, the The instruction means implement the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif et un procédé de commande d'aéronef, et un aéronef. Le dispositif de commande comprend un module de commande de vol (210), et une pluralité de modules de redondance (220) reliés l'un à l'autre ; chaque module de redondance (220) comprend un module de détection (221), un module de traitement de données (222) et un dispositif de connexion de sélection (223) qui sont connectés en séquence ; le dispositif de connexion de sélection (223) est connecté à un processeur dans un module de redondance adjacent (220) ; le module de traitement de données (222) dans chaque module de redondance (220) est utilisé pour recevoir des informations de détection envoyées par le module de détection (221), déterminer un module de traitement de données cible, et délivrer en sortie des informations de commande et activer des informations pour les informations de détection et le module de traitement de données cible ; le dispositif de connexion de sélection (223) est utilisé pour connecter le module de traitement de données cible et le module de commande de vol (210) en fonction des informations de validation ; le module de commande de vol (210) est utilisé pour effectuer une commande correspondante sur la base des informations de commande. Par conséquent, la perte de commande d'un aéronef provoquée par une défaillance d'un seul module de détection ou d'un module de traitement de données peut être évitée.
PCT/CN2021/127687 2021-03-10 2021-10-29 Dispositif et procédé de commande d'aéronef, et aéronef WO2022188433A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
CN202110266813.5A CN113009933B (zh) 2021-03-10 2021-03-10 一种飞行器的控制装置、控制方法和飞行器
CN202110266813.5 2021-03-10
CN202110548538.6 2021-05-19
CN202110548538.6A CN113296532A (zh) 2021-05-19 2021-05-19 载人飞行器的飞行控制方法和装置、以及载人飞行器
CN202110544342.XA CN113296531A (zh) 2021-05-19 2021-05-19 飞行控制系统、飞行控制方法和飞行器
CN202110544342.X 2021-05-19

Publications (1)

Publication Number Publication Date
WO2022188433A1 true WO2022188433A1 (fr) 2022-09-15

Family

ID=83226370

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/127687 WO2022188433A1 (fr) 2021-03-10 2021-10-29 Dispositif et procédé de commande d'aéronef, et aéronef

Country Status (1)

Country Link
WO (1) WO2022188433A1 (fr)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2505497A1 (fr) * 2011-03-29 2012-10-03 BAE Systems Plc Système de contrôle d'actionneur
CN104122896A (zh) * 2013-04-24 2014-10-29 成都飞机设计研究所 一种基于ttp/c总线的无人飞行器飞行控制系统体系架构
CN104749949A (zh) * 2015-03-19 2015-07-01 南京航空航天大学 一种基于PowerPC和x86的混合三余度无人机飞控计算机及内核设计方法
CN207908981U (zh) * 2018-03-26 2018-09-25 东汉太阳能无人机技术有限公司 一种无人机飞控系统
CN111443593A (zh) * 2020-04-08 2020-07-24 中国人民解放军国防科技大学 一种网络化多余度的飞行器控制系统
CN112596535A (zh) * 2020-12-14 2021-04-02 一飞(海南)科技有限公司 无人机多传感器三余度飞行控制系统、方法及存储介质
CN113009933A (zh) * 2021-03-10 2021-06-22 广东汇天航空航天科技有限公司 一种飞行器的控制装置、控制方法和飞行器
CN113296531A (zh) * 2021-05-19 2021-08-24 广东汇天航空航天科技有限公司 飞行控制系统、飞行控制方法和飞行器
CN113296532A (zh) * 2021-05-19 2021-08-24 广东汇天航空航天科技有限公司 载人飞行器的飞行控制方法和装置、以及载人飞行器

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2505497A1 (fr) * 2011-03-29 2012-10-03 BAE Systems Plc Système de contrôle d'actionneur
CN104122896A (zh) * 2013-04-24 2014-10-29 成都飞机设计研究所 一种基于ttp/c总线的无人飞行器飞行控制系统体系架构
CN104749949A (zh) * 2015-03-19 2015-07-01 南京航空航天大学 一种基于PowerPC和x86的混合三余度无人机飞控计算机及内核设计方法
CN207908981U (zh) * 2018-03-26 2018-09-25 东汉太阳能无人机技术有限公司 一种无人机飞控系统
CN111443593A (zh) * 2020-04-08 2020-07-24 中国人民解放军国防科技大学 一种网络化多余度的飞行器控制系统
CN112596535A (zh) * 2020-12-14 2021-04-02 一飞(海南)科技有限公司 无人机多传感器三余度飞行控制系统、方法及存储介质
CN113009933A (zh) * 2021-03-10 2021-06-22 广东汇天航空航天科技有限公司 一种飞行器的控制装置、控制方法和飞行器
CN113296531A (zh) * 2021-05-19 2021-08-24 广东汇天航空航天科技有限公司 飞行控制系统、飞行控制方法和飞行器
CN113296532A (zh) * 2021-05-19 2021-08-24 广东汇天航空航天科技有限公司 载人飞行器的飞行控制方法和装置、以及载人飞行器

Similar Documents

Publication Publication Date Title
EP3223195A1 (fr) Dispositif, procédé et programme de détection d'objets
CN109976141B (zh) Uav传感器信号余度表决系统
WO2020135730A1 (fr) Unité de commande embarquée, et procédé et dispositif de conduite automatique de véhicule à base de fpga
JP7018975B2 (ja) 自動運転プラットフォームのセンサーｉ／ｏのカバレッジを改善するためのフレキシブルテストボード
CN108628692B (zh) 用于控制自主受控对象的容错方法
CN115390432B (zh) 一种多余度无人机飞控系统及飞控方法
CN113009933B (zh) 一种飞行器的控制装置、控制方法和飞行器
CN112596417A (zh) 自动驾驶运行域控制器及控制系统
CN114610074B (zh) 适用于多旋翼无人机的多余度飞控系统及多旋翼无人机
CN112947525B (zh) 电动载人飞行器飞行控制系统及飞行控制方法
CN112046783A (zh) 一种三imu冗余技术的飞控方法和系统
US8175759B2 (en) Systems and methods for validating predetermined events in reconfigurable control systems
CN113296532A (zh) 载人飞行器的飞行控制方法和装置、以及载人飞行器
CN108693885A (zh) 一种无人机控制系统及无人机
US20190329408A1 (en) Robot, method for controlling motion of a robot and non-transitory readable medium
KR101703500B1 (ko) 차량 유닛
CN113296531A (zh) 飞行控制系统、飞行控制方法和飞行器
WO2022188433A1 (fr) Dispositif et procédé de commande d'aéronef, et aéronef
US20200349104A1 (en) Chip, processor, computer system and movable device
WO2019062127A1 (fr) Procédé et appareil de commande pour un aéronef sans pilote
KR102255841B1 (ko) 이중화된 비행제어장치 및 이를 탑재한 무인비행장치와, 무인 비행장치의 비행제어방법
JP6155029B2 (ja) 航空機の通信システム、航空機の通信方法及び通信機器
CN117348373A (zh) 一种多余度飞行控制与导航系统
EP3708490B1 (fr) Aéronef
CN113074955B (zh) 控制数据采集的方法、装置、电子设备和介质

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21929897

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21929897

Country of ref document: EP

Kind code of ref document: A1