uav sensor signal redundancy voting system

Abstract

The invention discloses a UAV sensor signal redundancy voting system, which aims to provide a more flexible, safe and reliable redundancy voting system. The present invention is realized through the following technical solutions: the UAV flight data is collected by the sensor data acquisition system and sent to the central controller, the redundancy management module in the management software configures the redundancy of the signal, and the voting device passes the signal voting algorithm Select the sensor signal input, the flight management control program dynamically adjusts the signal threshold according to the size of the sensor data, four-degree redundancy synchronously judges whether the sensor is faulty, the voting device detects the fault and isolates the corresponding sensor signal and performs signal voting; if the hardware circuit is normal, The fault is judged according to the data of each sensor; the sensor data whose data value is in the middle is selected as the final output; the voting device averages the remaining valid signals according to the sensor signal value and fault latch information to output a voting signal.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle sensor signal threshold dynamic processing voting system, in particular to a sensor signal four-redundancy voting system applied to a certain signal collection and voting system of an unmanned aerial vehicle. Background technique [0002] With the increasing number of flight functions of UAVs, the task requirements become more and more complex, which makes the flight control system more and more complex, so that the frequency of failures will become higher and higher. Therefore, in addition to requiring good fault detection means and a perfect automatic switching mechanism, it must also have the ability to start backup redundancy in time. The flight control system as the brain of the UAV needs to undertake the reliable control problem during the completion of the flight mission. In the flight control system, the autonomous control of the autonomous control mechanical equipment is to organically combi...

AI Technical Summary

Problems solved by technology

The disadvantage of this configuration is that once one of the sensors fails, the remaining signals will not be able to vote. At this time, only a certain sensor can be manually selected.

The disadvantages of this technology are, first, the fixed signal threshold greatly reduces the robustness of the system; second, once the standard sensor fails, the entire voting system will not work properly

Since the control quantity of the three-degree flight control system is calculated by three independent CPUs, and each independent flight control computer module uses an independent clock, as the running time increases, the instructions output by the independent modules will inevitably be due to integral device action produces unacceptable drift

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