Automatic flight pilot with master-slave structure and aircraft

Abstract

The embodiment of the invention relates to the technical field of automatic flight driving, in particular to an automatic flight pilot with a master-slave structure and an aircraft, the automatic flight pilot comprises a main processor, a coprocessor and a crystal oscillator clock, and the main processor is connected with the coprocessor and the crystal oscillator clock. The coprocessor is also respectively connected with each functional module of an aircraft to which the automatic flight pilot belongs; the crystal oscillator clock is used for providing a stable clock signal for synchronous work; the main processor is used for creating and scheduling a plurality of system tasks; the coprocessor is used for collecting data required by each system task from the corresponding function module; the main processor is also used for carrying out data fusion by using a Kalman fusion algorithm, carrying out calculation of a control law and a guidance law based on the fused data, and sending a calculation result to the coprocessor; and the coprocessor is also used for generating a control instruction according to the resolving result and sending the control instruction to the corresponding functional module to complete various system tasks, so that the flight safety is effectively improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automatic flight driving technology, and in particular to an automatic flight pilot and an aircraft of a master-slave structure. Background Art

[0002] The autopilot, also known as the flight control system, is a regulating device that automatically controls the trajectory of an aircraft according to set technical requirements. Its main function is to maintain the aircraft's attitude. For manned aircraft, the autopilot is responsible for assisting the pilot in maneuvering the aircraft and reducing the pilot's burden; for drones, the autopilot cooperates with other navigation equipment to complete the specified flight mission; for missiles, the autopilot plays a role in stabilizing the missile's attitude, so it is also called a missile attitude control system.

[0003] As the complexity of flight missions increases, people's requirements for flight safety increase day by day, and the flight control system needs to undertake tasks such as obtaining sensor data, solving control laws, and performing flight calculations. At the same time, the application of intelligent technology requires the flight control system to undertake tasks such as video processing and neural networks that involve massive data and high-speed processing.

[0004] However, the inventor of the present application has found that the flight control system with a single processor has the following problems:

[0005] 1) The flight control system takes into account the tasks of data processing, control law and guidance law solution, and requires a large amount of computing power to complete data processing and interaction. This affects the control law and guidance law solution that are directly related to flight safety.

[0006] 2) The fusion of multi-sensor data, video data processing, and intelligent algorithm calculations are affected by computing power.

[0007] 3) The flight control system’s redundant backup capability is insufficient. Summary of the invention

[0008] The main purpose of the embodiments of the present application is to propose an automatic flight pilot and aircraft with a master-slave structure, which adopts a dual processor structure of a main processor and a coprocessor, has higher reliability and a redundant design, so that key sensors, control law solvers, and guidance law solvers have the ability to restart in an emergency, effectively improving flight safety.

[0009] In order to achieve the above-mentioned purpose, an embodiment of the present application proposes an automatic flight pilot with a master-slave structure, including: a main processor, a coprocessor, a crystal oscillator clock, a serial port module, a CAN communication module, an I2C module, a PWM output module, a GPIO module, a USB module and a TF card slot module, the main processor is respectively connected to the coprocessor and the crystal oscillator clock, and the coprocessor is also respectively connected to the serial port module, the CAN communication module, the I2C module, the PWM output module, the GPIO module, the USB module and the TF card slot module, so as to be connected to each functional module of the aircraft to which the automatic flight pilot belongs; the crystal oscillator clock is used to provide a stable clock signal to synchronize the main processor, the coprocessor, and the automatic flight pilot. The main processor is used to create and schedule a number of system tasks, and send the scheduling order and required data of each system task to the coprocessor; the coprocessor is used to collect the required data of each system task from the corresponding functional module of the aircraft to which the automatic flight pilot belongs, and send it to the main processor after filtering; the main processor is also used to use the Kalman fusion algorithm to fuse the data sent by the coprocessor, solve the control law and guidance law based on the fused data, and send the solution result to the coprocessor; the coprocessor is also used to generate control instructions according to the solution result, and send the control instructions to the corresponding functional module of the aircraft to which the automatic flight pilot belongs, so as to complete various system tasks.

[0010] In order to achieve the above-mentioned purpose, an embodiment of the present application further proposes an aircraft, including: an aircraft fuselage, a plurality of functional modules, and an automatic flight pilot with a master-slave structure as described above.

[0011] In order to achieve the above-mentioned purpose, an embodiment of the present application also proposes a flight control method, which is applicable to an aircraft as described above, and includes the following steps: after the aircraft is powered on, the input and output of the automatic flight pilot and each functional module are configured, and a self-check is performed; after the self-check is completed, the application is initialized and a stable clock signal is started to be generated to synchronize the operation of the main processor, the coprocessor, and each functional module; a number of system tasks are created and scheduled, and the required data of each system task is collected from the corresponding functional modules, and after filtering, the data is fused using the Kalman fusion algorithm; the control law and guidance law are solved based on the fused data, and control instructions are generated according to the solution results, and the control instructions are sent to the corresponding functional modules to complete various system tasks.

[0012] In order to achieve the above-mentioned purpose, an embodiment of the present application further proposes a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, it can implement the above-mentioned flight control method.

[0013] The embodiment of the present application proposes an automatic flight pilot and aircraft with a master-slave structure. The core of the automatic flight pilot is two processors, namely the main processor and the coprocessor. The two processors use the clock signal provided by the crystal oscillator clock to synchronize the working time, and each of the two processors undertakes different tasks. The main processor is responsible for creating and scheduling a number of system tasks, coordinating the overall control of the aircraft, and is also responsible for the data fusion that consumes the most computing power and the solution of the control law and guidance law. The coprocessor is responsible for data interaction with various functional modules of the aircraft through different interfaces, including the collection of basic data and the issuance of control instructions. The main processor no longer undertakes the tasks of data interaction and simple processing, and its computing power can be fully used for solution work, ensuring the accuracy and reliability of the solution of the control law and guidance law, and effectively improving the flight safety of the aircraft. The main processor and the coprocessor are mutually master and backup, forming a redundant design, so that key sensors, control law solution, and guidance law solution have the ability to restart operation in an emergency.

[0014] In some optional embodiments, a task scheduling management module and a solving module are provided in the main processor; the task scheduling management module adopts the working mode of the foreground and background system or the super loop system, and the application in the task scheduling management module is an infinite loop, in which the corresponding functional modules in the main processor and the coprocessor are called according to the planned time slice, and different functional modules in the main processor and the coprocessor are called in different time slices; wherein a timer interrupt is provided in the task scheduling management module, and a timing time of 1ms is provided as the time reference of the operation, and all the timing control times are based on the timing time; the task scheduling management module is used to create and schedule a number of system tasks, and each functional module in the main processor, the coprocessor and the aircraft is based on each system The tasks form several combinations, and the system tasks are not prioritized. The task scheduling management module determines the scheduling order of the system tasks according to the control logic; the solution module is used to run the Kalman fusion algorithm on the data sent by the coprocessor to complete the measurement and noise reduction of heading, acceleration, angular acceleration, and pressure altitude, and use the Kalman fusion algorithm to fuse the pitch angle, roll angle, and yaw angle information, and solve the control law and guidance law based on the pitch angle, roll angle, and yaw angle information; Among them, the solution module is composed of a data fusion unit, a longitudinal control law solution unit, a lateral control law solution unit, and a guidance law solution unit. The corresponding control law strategy and structure, guidance law strategy and structure are different for the aircraft in different flight phases, different flight modes, and different flight states. The task scheduling management module allows multi-task operation, so that the utilization rate of the main processor is maximized. This design also makes the application modular. In actual applications, developers can hierarchize very complex applications. Using multi-tasks, the application will be easier to design and maintain. The solution module is composed of different solution units to avoid mutual influence of the solution process.

[0015] In some optional embodiments, the processor is further provided with a system ground detection module; the system ground detection module is started when the aircraft is on the ground and in an idle state, and generates detection instructions to perform availability and reliability detection on the main processor, coprocessor and each functional module in the aircraft. The system ground detection module is started and works only when the aircraft is on the ground and idle, ensuring that each functional module in the aircraft is available and reliable, while preventing the detection from interfering with the normal flight of the aircraft.

[0016] In some optional embodiments, a fault emergency handling module is also provided in the main processor; when the aircraft is on the ground and in an idle state, the fault emergency handling module is used to obtain the availability and reliability detection results of the main processor, coprocessor and each functional module in the aircraft based on the system ground detection module, and perform fault emergency handling on unavailable and unreliable functional modules; when the aircraft is in flight, the fault emergency handling module is used to perform fault detection based on the data sent by the coprocessor, and when a fault is detected, perform fault emergency handling according to the preset emergency plan. As an emergency guarantee, the fault emergency handling module can work in any state of the aircraft. When the aircraft is on the ground, the fault emergency handling module cooperates with the system ground detection module to ensure that each functional module in the aircraft is available and reliable. When the aircraft is in flight, the fault emergency handling module cooperates with the coprocessor to perform fault emergency handling.

[0017] In some optional embodiments, the coprocessor is provided with a data acquisition and processing module, a control module and a remote control telemetry module; the functional modules in the aircraft connected to the coprocessor include a magnetometer, an accelerometer, a gyroscope and a barometer; the data acquisition and processing module collects the required data of each system task from the magnetometer, accelerometer, gyroscope and barometer according to the scheduling order of each system task, and sends the data to the main processor after filtering; the control module is used to receive the solution results sent by the main processor, generate control instructions according to the solution results, and send the control instructions to the corresponding functional modules of the aircraft to which the automatic flight pilot belongs to complete various system tasks; the remote control telemetry module establishes a communication connection with the ground control center to realize the status information monitoring and management control between the aircraft and the ground control center, and the remote control telemetry module sends the data output by the data acquisition and processing module to the ground control center so that the ground control center can monitor the mission load, status and information of the aircraft; the remote control telemetry module also supports receiving the control instructions sent by the ground control center, and performs flight management control, fault management and emergency disposal based on the control instructions sent by the ground control center. The design of the remote control and telemetry module realizes the interaction between the ground and the space, thus helping the aircraft to better complete the intended mission.

[0018] In some optional embodiments, the main processor holds a main processor private key, the coprocessor holds a main processor public key, a coprocessor private key and a third private key, and each functional module of the aircraft to which the automatic flight pilot belongs holds the coprocessor public key and the third public key; after obtaining the solution result, the main processor uses the main processor private key to package and encrypt the solution result and the main processor information, and sends the encrypted first ciphertext data to the coprocessor; after receiving the first ciphertext data sent by the main processor, the coprocessor uses the main processor public key to decrypt it, authenticates the decrypted main processor information, and if the identity authentication is successful, generates a control instruction based on the decrypted solution result, and uses the coprocessor private key to authenticate the generated control instruction The second ciphertext data is encrypted with the coprocessor information, and the third ciphertext data is obtained by encrypting the main processor information with the third private key to obtain the third ciphertext data, and the second ciphertext data and the third ciphertext data are packaged and sent to the corresponding functional module of the aircraft to which the automatic flight pilot belongs; after receiving the ciphertext package sent by the coprocessor, the functional module of the aircraft uses the third public key to decrypt the third ciphertext data in the ciphertext package, and authenticates the decrypted main processor information. If the authentication is successful, the second ciphertext data in the ciphertext package is decrypted using the coprocessor public key, and the decrypted coprocessor information is authenticated. If the authentication is successful, the decrypted control instruction is executed to complete various system tasks. The execution of the system tasks has undergone three encryptions and double authentications. The main processor, coprocessor, and the functional modules of the aircraft can successfully complete the system tasks only after confirming their respective identities and ensuring safety, which further improves the flight safety of the aircraft and effectively resists malicious attacks by lawbreakers.

[0019] In some optional embodiments, the coprocessor is also connected to the crystal oscillator clock, and the main processor is also respectively connected to the serial port module, CAN communication module, I2C module, PWM output module, GPIO module, USB module and TF card slot module, so as to be connected to each functional module of the aircraft to which the automatic flight pilot belongs; when the coprocessor detects that the main processor is down, it enables the connection with the crystal oscillator clock and takes over the work of the main processor: when the main processor detects that the coprocessor is down, it enables the connection with the serial port module, CAN communication module, I2C module, PWM output module, GPIO module, USB module and TF card slot module and takes over the work of the coprocessor. When one of the main processor and the coprocessor fails to work properly, the other can quickly take over the work of the other, which adds fault tolerance to the flight mission of the aircraft and further improves the flight safety of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the related technologies, the drawings required for use in the embodiments of the present application or the related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 is a schematic structural diagram of an automatic flight pilot of a master-slave structure provided in one embodiment of the present application;

[0022] Figure 2 is a schematic diagram of task scheduling management provided in one embodiment of the present application;

[0023] Figure 3 It is a flowchart of a flight control method provided in another embodiment of the present application. DETAILED DESCRIPTION

[0024] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0025] An embodiment of the present application proposes an automatic flight pilot with a master-slave structure. The implementation details of the automatic flight pilot with a master-slave structure proposed in this embodiment are specifically described below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for the implementation of this solution.

[0026] The specific structure of the master-slave automatic flight pilot proposed in this embodiment can be as follows: Figure 1 As shown, it includes: a main processor 10, a coprocessor 20, a crystal oscillator clock 30, a serial port module 41, a CAN communication module 42, an I2C module 43, a PWM output module 44, a GPIO module 45, a USB module 46 and a TF card slot module 47. The main processor 10 is connected to the coprocessor 20 and the crystal oscillator clock 30 respectively, and the coprocessor 20 is also connected to the serial port module 41, the CAN communication module 42, the I2C module 43, the PWM output module 44, the GPIO module 45, the USB module 46 and the TF card slot module 47 respectively, so as to be connected to each functional module of the aircraft to which the automatic flight pilot belongs.

[0027] The crystal oscillator clock 30 is used to provide a stable clock signal to synchronize the operation of the main processor 10 , the coprocessor 20 , and various functional modules of the aircraft to which the autopilot belongs.

[0028] The main processor 10 is used to create and schedule a number of system tasks, and send the scheduling order and required data of each system task to the coprocessor 20.

[0029] The coprocessor 20 is used to collect the data required for various system tasks from the corresponding functional modules of the aircraft to which the automatic flight pilot belongs, and send the data to the main processor 10 after filtering.

[0030] The main processor 10 is also used to fuse the data sent by the coprocessor 20 using the Kalman fusion algorithm, solve the control law and the guidance law based on the fused data, and send the solution result to the coprocessor 20.

[0031] The coprocessor 20 is further used to generate control instructions according to the solution results, and send the control instructions to the corresponding functional modules of the aircraft to which the automatic flight pilot belongs, so as to complete various system tasks.

[0032] In one example, the main processor is a Feiteng E2000 processor.

[0033] In one example, a task scheduling management module and a solving module are provided in the main processor.

[0034] The flight control system is a typical embedded real-time control system, which has very strict control requirements for logic and timing, otherwise it will cause the system to crash. The task scheduling management module adopts the working mode of the foreground and background system or the super loop system. The application in the task scheduling management module is an infinite loop. In the loop, the corresponding functional modules in the main processor and the coprocessor are called according to the planned time slice, and different functional modules in the main processor and the coprocessor are called in different time slices. The interrupt service program handles asynchronous events, which can be regarded as foreground behavior. The background can also be called the task level, and the foreground is also called the interrupt level. The key operations with strong time correlation must be guaranteed by the interrupt service. Therefore, a timer interrupt is set in the task scheduling management module, which provides a timing time of 1ms as the time base for operation. All timing control times are based on this timing time.

[0035] The task scheduling management module is used to create and schedule several system tasks. The main processor, coprocessor and various functional modules in the aircraft form several combinations based on various system tasks. The main processor takes turns to serve a certain system task in a series of system tasks. There is no priority for each system task. The task scheduling management module determines the scheduling order of each system task based on the control logic. The main processor can create and schedule up to 50 system tasks at the same time (the size of the task queue is determined by comprehensively considering the memory occupied by the size of the task queue and the number of tasks actually created by the user).

[0036] The task scheduling management module allows multi-tasking to be run, maximizing the utilization of the main processor. This design also modularizes the application. In actual applications, developers can hierarchize very complex applications. Using multi-tasking, the application will be easier to design and maintain.

[0037] The solution module is used to run the Kalman fusion algorithm on the data sent by the coprocessor, complete the measurement and noise reduction of heading, acceleration, angular acceleration, and pressure altitude, and use the Kalman fusion algorithm to fuse the pitch angle, roll angle, and yaw angle information, and solve the control law and guidance law based on the pitch angle, roll angle, and yaw angle information; among them, the solution module is composed of a data fusion unit, a longitudinal control law solution unit, a lateral control law solution unit, and a guidance law solution unit. The corresponding control law strategy and structure, guidance law strategy and structure are different for the aircraft in different flight phases, different flight modes, and different flight states. Different solution units perform different solutions to avoid mutual influence of the solution process.

[0038] In one example, the processor is further provided with a system ground detection module, which is started when the aircraft is on the ground and in an idle state, and generates detection instructions to perform availability and reliability detection on the main processor, coprocessor and various functional modules in the aircraft.

[0039] It is worth noting that the system ground detection module is started and works only when the aircraft is on the ground and idle, ensuring that the various functional modules in the aircraft are available and reliable, while preventing the detection from interfering with the normal flight of the aircraft.

[0040] In one example, a fault emergency handling module is also provided in the main processor. When the aircraft is on the ground and in an idle state, the fault emergency handling module is used to obtain the availability and reliability detection results of the main processor, coprocessor and each functional module in the aircraft based on the system ground detection module, and perform fault emergency handling on unavailable and unreliable functional modules. When the aircraft is in flight, the fault emergency handling module is used to perform fault detection based on the data sent by the coprocessor, and when a fault is detected, perform fault emergency handling according to the preset emergency plan.

[0041] It can be understood that the fault emergency response module serves as an emergency guarantee for the flight control system and can work in any state of the aircraft. When the aircraft is on the ground, the fault emergency response module cooperates with the system ground detection module to ensure that each functional module in the aircraft is available and reliable. When the aircraft is in flight, the fault emergency response module cooperates with the coprocessor to perform fault emergency response.

[0042] In one example, the coprocessor is provided with a data acquisition and processing module, a control module and a remote control and telemetry module.

[0043] The functional modules in the aircraft connected to the coprocessor include magnetometers, accelerometers, gyroscopes and barometers. The data acquisition and processing module collects the required data for each system task from the magnetometers, accelerometers, gyroscopes and barometers according to the scheduling order of each system task, and sends the data to the main processor after filtering.

[0044] There are two types of interfaces between airborne sensors and flight control systems: analog input interface and serial communication interface. Sensors with analog input interfaces include vertical gyroscopes, and other sensors have serial communication interfaces. The underlying hardware driver module in the flight control system has completed the acquisition of interface data. The flight control system also needs to process the collected data, convert analog and binary data streams into corresponding physical quantities, and perform data fusion according to the status of the sensor.

[0045] The control module is used to receive the solution results sent by the main processor, generate control instructions according to the solution results, and send the control instructions to the corresponding functional modules of the aircraft to which the automatic flight pilot belongs to complete various system tasks.

[0046] The remote control telemetry module establishes a communication connection with the ground control center to realize the status information monitoring and management control between the aircraft and the ground control center. The remote control telemetry module sends the data output by the data acquisition and processing module to the ground control center so that the ground control center can monitor the mission payload, status and information of the aircraft. The remote control telemetry module also supports receiving control instructions sent by the ground control center, and performs flight management control, fault management and emergency response based on the control instructions sent by the ground control center. The design of the remote control telemetry module realizes the interaction between the ground and the ground, so as to help the aircraft better complete the predetermined tasks.

[0047] In one example, the task scheduling management in the flight control system can be as follows Figure 2 shown.

[0048] In one example, the main processor holds the main processor private key, the coprocessor holds the main processor public key, the coprocessor private key and the third private key, and each functional module of the aircraft to which the automatic flight pilot belongs holds the coprocessor public key and the third public key. After obtaining the solution result, the main processor needs to use the main processor private key to package and encrypt the solution result and the main processor information, and send the encrypted first ciphertext data to the coprocessor. After receiving the first ciphertext data sent by the main processor, the coprocessor first needs to use the main processor public key to decrypt and authenticate the decrypted main processor information. If the authentication is successful, a control instruction is generated based on the decrypted solution result, and the generated control instruction and coprocessor information are encrypted using the coprocessor private key to obtain the second ciphertext data, and then the main processor information is encrypted using the third private key to obtain the third ciphertext data. Finally, the second ciphertext data and the third ciphertext data are packaged and sent to the corresponding functional module of the aircraft to which the automatic flight pilot belongs. After receiving the ciphertext package sent by the coprocessor, the functional module of the aircraft first uses the third public key to decrypt the third ciphertext data in the ciphertext package, and authenticates the decrypted main processor information. If the identity authentication is successful, the coprocessor public key is used to decrypt the second ciphertext data in the ciphertext package, and authenticates the decrypted coprocessor information. If the identity authentication is successful, the decrypted control instructions are executed to complete various system tasks.

[0049] It is understandable that the execution of system tasks has undergone three encryptions and double authentication. The main processor, coprocessor, and functional modules of the aircraft can successfully complete the system tasks only after confirming their respective identities and ensuring safety. This design further improves the flight safety of the aircraft and effectively resists malicious attacks by criminals.

[0050] In one example, the coprocessor is also connected to the crystal oscillator clock, and the main processor is also respectively connected to the serial port module, CAN communication module, I2C module, PWM output module, GPIO module, USB module and TF card slot module, so as to be connected to each functional module of the aircraft to which the automatic flight pilot belongs. When the coprocessor detects that the main processor is down, it enables the connection with the crystal oscillator clock and takes over the work of the main processor. When the main processor detects that the coprocessor is down, it enables the connection with the serial port module, CAN communication module, I2C module, PWM output module, GPIO module, USB module and TF card slot module and takes over the work of the coprocessor. Such a mutual master-slave design enables that when one of the main processor and the coprocessor fails to work properly, the other can quickly take over the other's work, adding fault tolerance to the flight mission of the aircraft and further improving the flight safety of the aircraft.

[0051] In this embodiment, the core of the automatic flight pilot is two processors, namely the main processor and the coprocessor, which use the clock signal provided by the crystal oscillator clock to synchronize the working time, and the two processors each undertake different tasks. The main processor is responsible for creating and scheduling a number of system tasks, coordinating the overall control of the aircraft, and is also responsible for the data fusion and the solution of the control law and guidance law that consumes the most computing power. The coprocessor is responsible for data interaction with the various functional modules of the aircraft through different interfaces, including the collection of basic data and the issuance of control instructions. The main processor no longer undertakes the tasks of data interaction and simple processing, and its computing power can be fully used for solution work, ensuring the accuracy and reliability of the control law solution and the guidance law solution, effectively improving the flight safety of the aircraft. The main processor and the coprocessor are mutually primary and standby, forming a redundant design, so that key sensors, control law solution, and guidance law solution have the ability to restart operation in an emergency.

[0052] It is worth mentioning that all modules involved in this embodiment are logic modules. In practical applications, a logic unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed by this application, but this does not mean that there are no other units in this embodiment.

[0053] Another embodiment of the present application provides an aircraft, including: an aircraft fuselage, a plurality of functional modules, and an automatic flight pilot with a master-slave structure as described in the above embodiment.

[0054] Another embodiment of the present application proposes a flight control method. The details of the flight control method proposed in this embodiment are specifically described below. The following content is only the implementation details provided for the convenience of understanding and is not necessary for implementing this example. Figure 3 is a flow chart of a flight control method proposed in this embodiment, which specifically includes:

[0055] Step 51, after the aircraft is powered on, the automatic flight pilot and the input and output of each functional module are configured, and a self-check is performed.

[0056] Step 52, after the self-check is completed, the application is initialized and a stable clock signal is generated to synchronize the operation of the main processor, the coprocessor, and each functional module.

[0057] Step 53, create and schedule several system tasks, collect the required data of each system task from the corresponding functional module, and fuse them using the Kalman fusion algorithm after filtering.

[0058] Step 54, solve the control law and guidance law based on the fused data, generate control instructions according to the solution results, and send the control instructions to the corresponding functional modules to complete various system tasks.

[0059] The step division of the above methods is only for clear description. When implemented, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this application; adding insignificant modifications to the algorithm or process or introducing insignificant designs without changing the core design of the algorithm and process are all within the scope of protection of this application.

[0060] Another embodiment of the present application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it can implement a flight control method described in the above embodiment.

[0061] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, ROM (Read-Only Memory), RAM (Random Access Memory), disk or optical disk and other media that can store program codes.

[0062] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. An automatic flight pilot with a master-slave structure, characterized in that: include: A main processor, a coprocessor, a crystal oscillator clock, a serial port module, a CAN communication module, an I2C module, a PWM output module, a GPIO module, a USB module and a TF card slot module. The main processor is connected to the coprocessor and the crystal oscillator clock respectively. The coprocessor is also connected to the serial port module, the CAN communication module, the I2C module, the PWM output module, the GPIO module, the USB module and the TF card slot module respectively, thereby being connected to various functional modules of the aircraft to which the automatic flight pilot belongs; The crystal oscillator clock is used to provide a stable clock signal to synchronize the operation of the main processor, the coprocessor, and the various functional modules of the aircraft to which the autopilot belongs; The main processor is used to create and schedule several system tasks, and send the scheduling order and required data of each system task to the coprocessor; The coprocessor is used to collect the required data of various system tasks from the corresponding functional modules of the aircraft to which the automatic flight pilot belongs, and send it to the main processor after filtering; The main processor is also used to fuse the data sent by the coprocessor using the Kalman fusion algorithm, solve the control law and guidance law based on the fused data, and send the solution results to the coprocessor; The coprocessor is also used to generate control instructions according to the solution results, and send the control instructions to the corresponding functional modules of the aircraft to which the automatic flight pilot belongs, so as to complete various system tasks.

2. The master-slave automatic flight pilot according to claim 1, characterized in that: The main processor is provided with a task scheduling management module and a solving module; The task scheduling management module adopts the working mode of the foreground and background system or the super loop system. The application in the task scheduling management module is an infinite loop. In the loop, the corresponding functional modules in the main processor and the coprocessor are called according to the planned time slices, and different functional modules in the main processor and the coprocessor are called in different time slices. Among them, a timer interrupt is set in the task scheduling management module, which provides a timing time of 1ms as the time base for operation, and all timing control times are based on this timing time. The task scheduling management module is used to create and schedule several system tasks. The main processor, coprocessor and various functional modules in the aircraft form several combinations based on various system tasks. The various system tasks have no priority. The task scheduling management module determines the scheduling order of various system tasks according to the control logic; The solving module is used to run the Kalman fusion algorithm on the data sent by the coprocessor, complete the measurement and noise reduction of heading, acceleration, angular acceleration, and barometric altitude, and use the Kalman fusion algorithm to fuse the pitch angle, roll angle, and yaw angle information, and solve the control law and guidance law based on the pitch angle, roll angle, and yaw angle information; among them, the solving module is composed of a data fusion unit, a longitudinal control law solving unit, a lateral control law solving unit, and a guidance law solving unit. The aircraft has different control law strategies and structures, and guidance law strategies and structures in different flight phases, different flight modes, and different flight conditions.

3. The master-slave automatic flight pilot according to claim 2, characterized in that: A system ground detection module is also provided in the main processor; The system ground detection module is started when the aircraft is on the ground and in an idle state, and generates detection instructions to perform availability and reliability detection on the main processor, coprocessor and various functional modules in the aircraft.

4. The master-slave automatic flight pilot according to claim 3, characterized in that: The main processor is also provided with a fault emergency handling module; When the aircraft is on the ground and in an idle state, the fault emergency handling module is used to obtain the availability and reliability test results of the main processor, coprocessor and each functional module in the aircraft sent by the system ground detection module, and perform fault emergency handling on unavailable and unreliable functional modules; When the aircraft is in flight, the fault emergency handling module is used to perform fault detection based on the data sent by the coprocessor. When a fault is detected, the fault emergency handling is performed according to a preset emergency plan.

5. The master-slave automatic flight pilot according to claim 4, characterized in that: The coprocessor is provided with a data acquisition and processing module, a control module and a remote control and telemetry module; The functional modules in the aircraft connected to the coprocessor include a magnetometer, an accelerometer, a gyroscope and a barometer. The data acquisition and processing module collects the required data of each system task from the magnetometer, accelerometer, gyroscope and barometer according to the scheduling order of each system task, and sends it to the main processor after filtering. The control module is used to receive the solution results sent by the main processor, generate control instructions according to the solution results, and send the control instructions to the corresponding functional modules of the aircraft to which the automatic flight pilot belongs, so as to complete various system tasks; The remote control and telemetry module establishes a communication connection with the ground control center to realize the status information monitoring and management control between the aircraft and the ground control center. The remote control and telemetry module sends the data output by the data acquisition and processing module to the ground control center so that the ground control center can monitor the mission load, status and information of the aircraft; The remote control and telemetry module also supports receiving control instructions sent by the ground control center, and performs flight management control, fault management and emergency response based on the control instructions sent by the ground control center.

6. An automatic flight pilot with a master-slave structure according to any one of claims 1 to 5, characterized in that: The main processor holds the main processor private key, the coprocessor holds the main processor public key, the coprocessor private key and the third private key, and each functional module of the aircraft to which the autopilot belongs holds the coprocessor public key and the third public key; After obtaining the solution result, the main processor uses the main processor private key to package and encrypt the solution result and the main processor information, and sends the encrypted first ciphertext data to the coprocessor; After receiving the first ciphertext data sent by the main processor, the coprocessor uses the main processor public key to decrypt and authenticate the decrypted main processor information. If the authentication is successful, the coprocessor generates a control instruction based on the decrypted solution result, encrypts the generated control instruction and the coprocessor information using the coprocessor private key to obtain the second ciphertext data, encrypts the main processor information using the third private key to obtain the third ciphertext data, and packages the second ciphertext data and the third ciphertext data to send to the corresponding functional module of the aircraft to which the automatic flight pilot belongs; After receiving the ciphertext package sent by the coprocessor, the functional module of the aircraft uses the third public key to decrypt the third ciphertext data in the ciphertext package, and authenticates the decrypted main processor information. If the identity authentication is successful, the functional module uses the coprocessor public key to decrypt the second ciphertext data in the ciphertext package, and authenticates the decrypted coprocessor information. If the identity authentication is successful, the decrypted control instructions are executed to complete various system tasks.

7. An automatic flight pilot with a master-slave structure according to any one of claims 1 to 5, characterized in that: The coprocessor is also connected to the crystal oscillator clock, and the main processor is also respectively connected to the serial port module, the CAN communication module, the I2C module, the PWM output module, the GPIO module, the USB module and the TF card slot module, thereby connecting to various functional modules of the aircraft to which the automatic flight pilot belongs; When the coprocessor detects that the main processor is down, it enables the connection to the crystal clock and takes over the work of the main processor: When the main processor detects that the coprocessor is down, it enables the connection with the serial port module, CAN communication module, I2C module, PWM output module, GPIO module, USB module and TF card slot module to take over the work of the coprocessor.

8. An aircraft, characterized in that: include: An aircraft fuselage, a plurality of functional modules, and an automatic flight pilot with a master-slave structure as claimed in any one of claims 1 to 7.

9. A flight control method, characterized in that: An aircraft suitable for use as claimed in claim 8, comprising: After the aircraft is powered on, configure the autopilot and the input and output of each functional module, and perform a self-test; After the self-test is completed, the application is initialized and starts to generate a stable clock signal to synchronize the work of the main processor, coprocessor, and various functional modules; Create and schedule several system tasks, collect the required data of each system task from the corresponding functional modules, and fuse them using the Kalman fusion algorithm after filtering; The control law and guidance law are solved based on the fused data, control instructions are generated according to the solution results, and the control instructions are sent to the corresponding functional modules to complete various system tasks.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it can implement a flight control method as claimed in claim 9.

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