Redundancy synchronization control method, flight controller and storage medium

Abstract

This application discloses a redundancy synchronization control method, a flight controller, and a storage medium, which are applied to the field of flight controller technology. The method includes: receiving first redundancy data sent by a first flight computer; when the first redundancy data differs from second redundancy data in a synchronization list of a second flight computer, obtaining the status of the first redundancy data; and when the status of the first redundancy data is synchronized, sending the first redundancy data to the second flight computer so that the second flight computer uses the first redundancy data for calculation. The technical solution of this application enables synchronization of redundancy data between different flight computers when synchronization beats are inconsistent, thereby improving the accuracy of the synchronized data.

Description

Technical Field

[0001] The present application relates to the technical field of flight controllers, and in particular to a redundancy synchronization control method, a flight controller, and a storage medium. Background Art

[0002] The flight control system is a vital component of an aircraft, and its system configuration plays a decisive role in aircraft performance and safety. Currently, flight control systems are configured with dual- or triple-redundant computers for redundancy. This allows slave computers to replace the primary flight computer if a failure occurs. Therefore, the operating states of the primary and secondary flight computers must remain synchronized. For example, when the primary flight computer is executing content A, the secondary flight computer should also be executing content A. This allows the secondary flight computer to accurately take over the primary flight computer's subsequent operations if a failure occurs while executing content A. However, when the primary and secondary flight computers use synchronized data for calculations, if the synchronization rhythms are inconsistent, the synchronized data obtained at the same time cannot be consistent, which is detrimental to the calculations of each flight computer. Summary of the Invention

[0003] The embodiments of the present application provide a redundancy synchronization control method, a flight controller, and a storage medium, aiming to solve the problem that redundancy data between different flight computers cannot be synchronized when the synchronization beats are inconsistent.

[0004] An embodiment of the present application provides a redundancy synchronization control method applied to a redundancy synchronization module, the redundancy synchronization control method comprising:

[0005] receiving first redundancy data sent by a first flight computer;

[0006] When the first margin data is different from second margin data in the synchronization list of the second flight computer, obtaining a state of the first margin data;

[0007] When the state of the first redundancy data is a synchronization state, the first redundancy data is sent to the second flight computer, so that the second flight computer performs calculations using the first redundancy data.

[0008] In one embodiment, when the first margin data is different from the second margin data in the synchronization list of the second flight computer, the step of obtaining the status of the first margin data includes:

[0009] When the first redundancy data is different from the second redundancy data in the synchronization list, accumulating a count value of the out-of-step counter;

[0010] The state of the first redundancy data is determined according to a current count value of the out-of-step counter and a preset out-of-step value.

[0011] In one embodiment, the step of determining the state of the first redundancy data according to the current count value of the out-of-step counter and a preset out-of-step value includes:

[0012] When the current count value of the out-of-step counter is greater than a preset out-of-step value, determining that the state of the first redundancy data is an out-of-step state;

[0013] Alternatively, when the current count value of the out-of-step counter is less than or equal to a preset out-of-step value, the current count value of the out-of-step counter is cleared and the state of the first redundancy data is determined to be a synchronization state.

[0014] In one embodiment, when the current count value of the out-of-step counter is greater than a preset out-of-step value, after the step of determining that the state of the first redundancy data is an out-of-step state, the step includes:

[0015] When the state of the first redundancy data is an out-of-sync state, encapsulating the second redundancy data in the synchronization list into a data packet;

[0016] The data packet is sent to the first flight computer via a synchronous bus, so that the first flight computer performs calculations using the second redundancy data in the data packet.

[0017] In one embodiment, after the step of receiving the first redundancy data sent by the first flight computer, the following steps are included:

[0018] When the first redundancy data is identical to the second redundancy data in the synchronization list of the second flight computer, the second redundancy data is sent to the second flight computer so that the second flight computer performs calculations using the second redundancy data.

[0019] In one embodiment, the redundancy synchronization module includes a foreground data class and a background data class, the foreground data class is a friend class of the background data class, and the foreground data class is compatible with first redundancy data of at least two data types.

[0020] In one embodiment, before the step of receiving the first redundancy data sent by the first flight computer, the method further includes:

[0021] Instantiate the front-end data class;

[0022] Registering the identifier of the redundancy synchronization module and the second residual step data of the second flight computer into a synchronization list of a background data class, and feeding back an index identifier of the second residual step data in the synchronization list;

[0023] When the first redundancy data is identical to the second redundancy data in the synchronization list, the step of acquiring the state of the first redundancy data includes:

[0024] Acquire, from the synchronization list based on the index identifier, second redundancy data having the same index identifier as the first redundancy data;

[0025] When the value of the first redundancy data is the same as that of the second redundancy data and the time scale of the first redundancy data is the same as that of the second redundancy data, the state of the first redundancy data is acquired.

[0026] In one embodiment, before the step of receiving the first redundancy data sent by the first flight computer, the method further includes:

[0027] Instantiate the background data class, initialize the synchronization bus and synchronization list;

[0028] A data processing thread is started to execute, based on the data processing thread, a step of receiving first redundancy data sent by a first flight computer.

[0029] In addition, to achieve the above-mentioned purpose, the present application also provides a flight controller, which includes: a memory, a processor, and a redundancy synchronization control program stored on the memory and runnable on the processor. When the redundancy synchronization control program is executed by the processor, the steps of the above-mentioned redundancy synchronization control method are implemented.

[0030] In addition, to achieve the above-mentioned purpose, the present application also provides a computer-readable storage medium, which stores a redundancy synchronization control program, and when the redundancy synchronization control program is executed by a processor, the steps of the above-mentioned redundancy synchronization control method are implemented.

[0031] The embodiments of the present application provide a technical solution for a multi-redundancy synchronization control method, flight controller, and storage medium. This solution employs a method for receiving first redundancy data sent by a first flight computer. When the first redundancy data differs from the second redundancy data in the synchronization list of a second flight computer, the state of the first redundancy data of the first flight computer is obtained. When the state of the first redundancy data is synchronized, the first redundancy data is sent to the second flight computer, allowing the second flight computer to use the first redundancy data for calculations. This technical solution solves the problem of redundancy data between different flight computers being unable to synchronize when synchronization beats are inconsistent. This application provides a redundancy synchronization module on each flight computer, enabling the redundancy synchronization module to determine whether to use the first redundancy data of the first flight computer or the second redundancy data of the second flight computer for calculations based on the redundancy data of the first flight computer and the data state, thereby improving the accuracy of synchronized data. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of the structure of the flight controller involved in the embodiment of the present application;

[0033] Figure 2 This is a flow chart of the first embodiment of the redundancy synchronization control method of the present application;

[0034] Figure 3 This is a schematic diagram of the redundant synchronization system architecture of this application;

[0035] Figure 4 This is a diagram showing the relationship between the front-end data class and the back-end data class of this application;

[0036] Figure 5 This is a flow chart of an embodiment of the redundancy synchronization control method of the present application.

[0037] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. The above-mentioned drawings are only an embodiment diagram, not the entire invention. DETAILED DESCRIPTION

[0038] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] The main solution of the embodiment of the present application is: receiving first redundancy data sent by a first flight computer; when the first redundancy data is different from the second redundancy data in the synchronization list of the second flight computer, obtaining the status of the first redundancy data; when the status of the first redundancy data is a synchronized state, sending the first redundancy data to the second flight computer so that the second flight computer uses the first redundancy data for calculation.

[0040] When the first and second flight computers use synchronized data for computation, if the synchronization beats are inconsistent, the synchronized data obtained at the same time cannot be consistent, which is detrimental to the computation of each flight computer. Therefore, the present application provides a redundancy synchronization module on each flight computer, so that the redundancy synchronization module can determine whether to perform computation based on the first redundancy data of the first flight computer or the second redundancy data of the second flight computer based on the redundancy data and data status of the first flight computer, thereby improving the accuracy of the synchronized data.

[0041] To better understand the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. Instead, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0042] like Figure 1 As shown, Figure 1 This is a schematic diagram of the structure of the hardware operating environment of the flight controller of this application.

[0043] like Figure 1 As shown, the flight controller may include: a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, and a synchronization bus 1002. The synchronization bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the user interface 1003 may optionally include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory, or a stable memory (non-volatile memory), such as a disk memory. The memory 1005 may optionally be a storage device independent of the aforementioned processor 1001.

[0044] Those skilled in the art will understand that Figure 1 The flight controller structure shown in the figure does not constitute a limitation on the flight controller, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0045] like Figure 1 As shown, the memory 1005, which is a storage medium, may include an operating system, a network communication module, a user interface module, and a redundancy synchronization control program. The operating system is a program that manages and controls the flight controller's hardware and software resources, and the redundancy synchronization control program and other software or programs are executed.

[0046] exist Figure 1 In the flight controller shown, the user interface 1003 is mainly used to connect to the terminal and communicate data with the terminal; the network interface 1004 is mainly used to communicate data with the background server; the processor 1001 can be used to call the redundancy synchronization control program stored in the memory 1005.

[0047] In this embodiment, the flight controller includes: a memory 1005, a processor 1001, and a redundancy synchronization control program stored in the memory and executable on the processor, wherein:

[0048] When the processor 1001 calls the redundancy synchronization control program stored in the memory 1005, it performs the following operations:

[0049] receiving first redundancy data sent by a first flight computer;

[0050] When the first margin data is different from second margin data in the synchronization list of the second flight computer, obtaining a state of the first margin data;

[0051] When the state of the first redundancy data is a synchronization state, the first redundancy data is sent to the second flight computer, so that the second flight computer performs calculations using the first redundancy data.

[0052] When the processor 1001 calls the redundancy synchronization control program stored in the memory 1005, it also performs the following operations:

[0053] When the first redundancy data is different from the second redundancy data in the synchronization list, accumulating a count value of the out-of-step counter;

[0054] The state of the first redundancy data is determined according to a current count value of the out-of-step counter and a preset out-of-step value.

[0055] When the processor 1001 calls the redundancy synchronization control program stored in the memory 1005, it also performs the following operations:

[0056] When the current count value of the out-of-step counter is greater than a preset out-of-step value, determining that the state of the first redundancy data is an out-of-step state;

[0057] Alternatively, when the current count value of the out-of-step counter is less than or equal to a preset out-of-step value, the current count value of the out-of-step counter is cleared and the state of the first redundancy data is determined to be a synchronization state.

[0058] When the processor 1001 calls the redundancy synchronization control program stored in the memory 1005, it also performs the following operations:

[0059] When the state of the first redundancy data is an out-of-sync state, encapsulating the second redundancy data in the synchronization list into a data packet;

[0060] The data packet is sent to the first flight computer via a synchronous bus, so that the first flight computer performs calculations using the second redundancy data in the data packet.

[0061] When the processor 1001 calls the redundancy synchronization control program stored in the memory 1005, it also performs the following operations:

[0062] When the first redundancy data is identical to the second redundancy data in the synchronization list of the second flight computer, the second redundancy data is sent to the second flight computer so that the second flight computer performs calculations using the second redundancy data.

[0063] When the processor 1001 calls the redundancy synchronization control program stored in the memory 1005, it also performs the following operations:

[0064] The redundancy synchronization module includes a foreground data class and a background data class. The foreground data class is a friend class of the background data class, and the foreground data class is compatible with first redundancy data of at least two data types.

[0065] When the processor 1001 calls the redundancy synchronization control program stored in the memory 1005, it also performs the following operations:

[0066] Instantiate the front-end data class;

[0067] Registering the identifier of the redundancy synchronization module and the second residual step data of the second flight computer into a synchronization list of a background data class, and feeding back an index identifier of the second residual step data in the synchronization list;

[0068] Acquire, from the synchronization list based on the index identifier, second redundancy data having the same index identifier as the first redundancy data;

[0069] When the value of the first redundancy data is the same as that of the second redundancy data and the time scale of the first redundancy data is the same as that of the second redundancy data, the state of the first redundancy data is acquired.

[0070] When the processor 1001 calls the redundancy synchronization control program stored in the memory 1005, it also performs the following operations:

[0071] Instantiate the background data class, initialize the synchronization bus and synchronization list;

[0072] A data processing thread is started to execute, based on the data processing thread, a step of receiving first redundancy data sent by a first flight computer.

[0073] The technical solutions of this application will be introduced below in the form of embodiments.

[0074] First embodiment:

[0075] like Figure 2 As shown, in the first embodiment of the present application, the redundancy synchronization control method of the present application includes the following steps:

[0076] Step S110: receiving first redundancy data sent by a first flight computer.

[0077] In this embodiment, in order to solve the problem that the redundancy data between different flight computers cannot be synchronized when the synchronization beats are inconsistent, the present application provides a redundancy synchronization module on each flight computer, so that the redundancy synchronization module can determine whether to perform calculations based on the first redundancy data of the first flight computer or the second redundancy data of the second flight computer based on the redundancy data of the first flight computer and the status of the data, thereby improving the accuracy of the synchronized data.

[0078] In this embodiment, the basic function of redundancy management is to achieve fault detection and fault isolation for the flight controller system. A typical flight controller redundancy configuration can utilize at least two flight computers for coordinated control, such as three flight computers or three flight computers for control. Each flight computer serves as a hot backup for each other, cross-transmitting and voting on collected data. That is, each flight computer needs to maintain data synchronization. For example, assume there are flight computers A and B. At the same time, flight computer A will transmit its own redundancy data to flight computer B. Simultaneously, flight computer B will also transmit its own redundancy data to flight computer A, allowing flight computers A and B to maintain data synchronization at the same time. Through redundant data synchronization, if one flight computer fails, the other flight computer can still operate normally, thereby achieving the next step of flight controller control.

[0079] In this embodiment, in redundancy management, the first thing that needs to be completed is the synchronization between the flight computers. A soft / hard double handshake method can be used to make each flight computer always run the same task, that is, work in the same beat. This process is to maintain beat synchronization. While maintaining beat synchronization, it is also necessary to maintain data synchronization between the flight computers. In order to maintain data synchronization between the flight computers. This application sets a redundancy synchronization module in each flight computer, referring to Figure 3 The redundancy synchronization module is used to synchronize the redundancy data between flight computers.

[0080] Specifically, each flight computer has multiple redundancies, and upon power-up, each redundancy task runs simultaneously. It also receives and processes redundancy data from other flight computers, in addition to its own redundancy task. A redundancy synchronization module is installed within the flight computer, synchronizing important data with other flight computers.

[0081] The redundancy synchronization module in this embodiment is a module provided inside the second flight computer. At the same time, a redundancy synchronization module is also provided in the first flight computer. The first flight computer will send the first redundancy data generated or collected by itself to the redundancy synchronization module to which it is connected in real time, and then forward it to the redundancy synchronization module of the second flight computer via the redundancy synchronization module. Optionally, the first redundancy data sent by the first flight computer is sent in the form of a data packet. For example, the first redundancy data can be encapsulated into a UDP data packet, and the UDP data packet is sent to the redundancy synchronization module of the second redundancy computer. Optionally, in order to increase the scalability of the system, a CAN bus is used as a synchronization bus between each flight computer, and the first flight computer can send the encapsulated UDP data packet to the redundancy synchronization module of the second flight computer via the synchronization bus.

[0082] There may be multiple first flight computers, and each of the first flight computers communicates with the second flight computer via a CAN bus, meaning the second flight computer can simultaneously receive first redundancy data sent by multiple first flight computers. The first redundancy data is the redundancy data of the first flight computer. The first redundancy data may be data generated or collected by the first flight computer during the execution of a mission, or may be data related to the mission to be executed. In addition to being sent to the second redundancy computer, the first redundancy data may also be registered and stored in a synchronization list of the redundancy synchronization module of the first flight computer for comparison with the second redundancy data received from the second flight computer.

[0083] Step S120 : When the first redundancy data is different from the second redundancy data in the synchronization list of the second flight computer, obtaining the status of the first redundancy data.

[0084] In this embodiment, similar to the synchronization list of the first flight computer, the synchronization list of the second flight computer also stores the second flight computer's second redundancy data. This second redundancy data may be data generated or collected by the second flight computer during operation. After receiving the first redundancy data from the first flight computer, the second flight computer compares the first redundancy data with the second redundancy data in its own synchronization list to determine whether to perform calculations based on the first redundancy data of the first flight computer or the second redundancy data of the second flight computer.

[0085] If the first redundancy data differs from the second redundancy data in the synchronization list of the second flight computer, it indicates a possible fault in the second flight computer, and the first redundancy data of the first flight computer will be used. In this case, it is necessary to further determine whether the calculation can be performed using the first redundancy data of the first flight computer. Therefore, the status of the first redundancy data is obtained, and based on the status of the first redundancy data, it is determined whether the calculation can be performed using the first redundancy data of the first flight computer. The status of the first redundancy data includes a synchronized state or an out-of-sync state.

[0086] Step S130: When the state of the first redundancy data is a synchronization state, the first redundancy data is sent to the second flight computer, so that the second flight computer performs calculations using the first redundancy data.

[0087] In this embodiment, when the first redundancy data is in a synchronized state, the first redundancy data is sent to the second flight computer. After the first redundancy data is sent to the second flight computer, the second flight computer can use the first redundancy data to perform calculations, thereby achieving control over the flight computer. This application splits flight computer synchronization into synchronization of the flight computer system and internal mission data within the flight computer, increasing the flexibility of redundancy synchronization.

[0088] According to the above technical solution, this embodiment receives first redundancy data sent by a first flight computer. When the first redundancy data differs from the second redundancy data in the synchronization list of a second flight computer, the status of the first redundancy data of the first flight computer is obtained. When the first redundancy data is in a synchronized state, the first redundancy data is sent to the second flight computer, allowing the second flight computer to use the first redundancy data for calculations. This technical solution solves the problem of redundancy data synchronization failure between different flight computers when synchronization rhythms are inconsistent. By providing a redundancy synchronization module on each flight computer, the redundancy synchronization module can determine whether to use the first redundancy data of the first flight computer or the second redundancy data of the second flight computer for calculations based on the redundancy data and data status of the first flight computer, thereby improving the accuracy of synchronized data.

[0089] Second embodiment:

[0090] In a second embodiment of the present application, the redundancy synchronization control method of the present application includes the following steps:

[0091] Step S110, receiving first redundancy data sent by a first flight computer;

[0092] Step S121: when the first redundancy data is different from the second redundancy data in the synchronization list, accumulating the count value of the out-of-step counter;

[0093] Step S122, determining the state of the first redundancy data according to the current count value of the out-of-step counter and a preset out-of-step value;

[0094] In this embodiment, if the first redundancy data differs from the second redundancy data in the synchronization list of the second flight computer, it indicates that the first flight computer may be faulty. In this case, it is necessary to further determine whether operations can be performed using the first redundancy data of the first flight computer. Therefore, the status of the first redundancy data is obtained, and based on the status of the first redundancy data, it is determined whether operations can be performed using the first redundancy data of the first flight computer. Specifically, if the first redundancy data differs from the second redundancy data in the synchronization list of the second flight computer, the count value of the desynchronization counter is accumulated. The current count value of the desynchronization counter after the accumulated count value of the desynchronization counter is obtained, and the status of the first redundancy data is determined based on the current count value of the desynchronization counter and a preset desynchronization value. The status of the first redundancy data includes a synchronization state or a desynchronization state. The preset desynchronization value can be set according to actual conditions. The current count value is the count value corresponding to the desynchronization counter after the accumulated count value.

[0095] Step S130: When the state of the first redundancy data is a synchronization state, the first redundancy data is sent to the second flight computer, so that the second flight computer performs calculations using the first redundancy data.

[0096] According to the above technical solution, this embodiment adopts a technical means of receiving first redundancy data sent by a first flight computer; accumulating the count value of a step-out counter when the first redundancy data is different from second redundancy data in a synchronization list; determining the state of the first redundancy data based on the current count value of the step-out counter and a preset step-out value; and when the state of the first redundancy data is a synchronization state, sending the first redundancy data to the second flight computer so that the second flight computer uses the first redundancy data for calculation. By using the first redundancy data of the first flight computer for calculation when the redundancy data are identical and the data state is a synchronization state, control of the flight computer is achieved.

[0097] Third embodiment:

[0098] In a third embodiment of the present application, the redundancy synchronization control method of the present application includes the following steps:

[0099] Step S110, receiving first redundancy data sent by a first flight computer;

[0100] Step S121: when the first redundancy data is different from the second redundancy data in the synchronization list, accumulating the count value of the out-of-step counter;

[0101] Step S1221: When the current count value of the out-of-step counter is greater than a preset out-of-step value, determining that the state of the first redundancy data is an out-of-step state;

[0102] Alternatively, in step S1222, when the current count value of the out-of-step counter is less than or equal to a preset out-of-step value, the current count value of the out-of-step counter is cleared and the state of the first redundancy data is determined to be a synchronization state;

[0103] In this embodiment, after accumulating the count value of the out-of-step counter, the state of the first redundancy data is determined based on the current count value of the out-of-step counter and a preset out-of-step value. Specifically, the current count value of the out-of-step counter is compared with the preset out-of-step value. When the current count value of the out-of-step counter is greater than the preset out-of-step value, the state of the first redundancy data is determined to be an out-of-step state. When the current count value of the out-of-step counter is less than or equal to the preset out-of-step value, the state of the first redundancy data is determined to be a synchronized state. When the state of the first redundancy data is determined to be a synchronized state, the current count value of the out-of-step counter is cleared to zero.

[0104] Step S130: When the state of the first redundancy data is a synchronization state, the first redundancy data is sent to the second flight computer, so that the second flight computer performs calculations using the first redundancy data.

[0105] According to the above technical solution, this embodiment adopts the following technical means: receiving first redundancy data sent by a first flight computer; accumulating the count value of a step-out counter when the first redundancy data is different from second redundancy data in a synchronization list; determining that the state of the first redundancy data is a step-out state when the current count value of the step-out counter is greater than a preset step-out value; or, when the current count value of the step-out counter is less than or equal to the preset step-out value, clearing the current count value of the step-out counter and determining that the state of the first redundancy data is a synchronization state; and when the state of the first redundancy data is a synchronization state, sending the first redundancy data to the second flight computer so that the second flight computer uses the first redundancy data for calculation. By using the first redundancy data of the first flight computer for calculation when the redundancy data are identical and the data state is a synchronization state, control of the flight computer is achieved.

[0106] Fourth embodiment:

[0107] In a fourth embodiment of the present application, the redundancy synchronization control method of the present application includes the following steps:

[0108] Step S110, receiving first redundancy data sent by a first flight computer;

[0109] Step S121: when the first redundancy data is different from the second redundancy data in the synchronization list, accumulating the count value of the out-of-step counter;

[0110] Step S1221: When the current count value of the out-of-step counter is greater than a preset out-of-step value, determining that the state of the first redundancy data is an out-of-step state;

[0111] Step S210: When the state of the first redundancy data is an out-of-sync state, encapsulate the second redundancy data in the synchronization list into a data packet;

[0112] Step S220: Send the data packet to the first flight computer via the synchronous bus, so that the first flight computer performs calculations using the second redundancy data in the data packet.

[0113] In this embodiment, the first flight computer transmits the first redundancy data it generates or collects in real time to the redundancy synchronization module to which it is connected. The data is then forwarded to the redundancy synchronization module of the second flight computer via the redundancy synchronization module. The first redundancy data transmitted by the first flight computer is sent in the form of a data packet. For example, the first redundancy data can be encapsulated into a UDP data packet and sent to the redundancy synchronization module of the second redundancy computer. To increase the scalability of the system, a CAN bus is used as a synchronization bus between the various flight computers. The first flight computer can transmit the encapsulated UDP data packet to the redundancy synchronization module of the second flight computer via this synchronization bus.

[0114] The redundancy synchronization module in the second flight computer compares the first redundancy data with the second redundancy data in the synchronization list corresponding to the second flight computer. If the comparison results in inconsistency and the first redundancy data is out of sync, it indicates a possible fault in the first flight computer. The second flight computer's own redundancy data is then used for calculations. Simultaneously, the second redundancy data is packaged into a data packet and sent via a synchronization bus to the other flight computers, allowing them to use the second redundancy data in the data packet for calculations.

[0115] According to the above technical solution, this embodiment uses a technical means of sending the second redundancy data of the second flight computer to other flight computers when the first flight computer is out of sync, thereby achieving control over the flight computer.

[0116] Fifth embodiment:

[0117] In a fifth embodiment of the present application, the redundancy synchronization control method of the present application includes the following steps:

[0118] Step S110, receiving first redundancy data sent by a first flight computer;

[0119] Step S310 : When the first redundancy data is identical to the second redundancy data in the synchronization list of the second flight computer, the second redundancy data is sent to the second flight computer so that the second flight computer performs calculations using the second redundancy data.

[0120] In this embodiment, after receiving the first redundancy data from the first flight computer, the redundancy synchronization module of the second flight computer compares the first redundancy data with the second redundancy data in the synchronization list of the second flight computer. Specifically, the comparison may be performed on time stamps, parameter values, etc. of the first and second redundancy data. If the comparison results are identical, it indicates that the first and second flight computers are operating normally, and the second flight computer can use its own second redundancy data for calculations.

[0121] According to the above technical solution, this embodiment uses a technical means of using the second redundancy data for calculation when the first redundancy data and the second redundancy data are the same, thereby achieving control over the flight computer.

[0122] Sixth embodiment:

[0123] In a sixth embodiment of the present application, the redundancy synchronization module includes a foreground data class and a background data class, the foreground data class is a friend class of the background data class, and the foreground data class is compatible with first redundancy data of at least two data types.

[0124] Among them, the redundancy synchronization function is implemented by the redundancy synchronization module, which consists of a foreground data class and a background processing class. The foreground processing class provides the user with a scheduling interface for the redundancy synchronization module and supports seven types of data processing; the background processing class is used to store and process synchronization information, and provides internal interfaces such as initialization, scheduling functions, and command interaction. There is no external interface. In design, the foreground service class is a friend class of the background processing class. Class relationship reference Figure 4 When you want the foreground service class to access the private members of the background service class, you can declare the foreground service class as a friend class of the background service class. All member functions of the friend class are friend functions of the background service class and can access the hidden information in the background service class.

[0125] Seventh embodiment:

[0126] In a seventh embodiment of the present application, the redundancy synchronization control method of the present application includes the following steps:

[0127] Step S410, instantiating the foreground data class;

[0128] Step S420: registering the identifier of the redundancy synchronization module and the second residual step data of the second flight computer into a synchronization list of a background data class, and feeding back an index identifier of the second residual step data in the synchronization list;

[0129] Step S521, acquiring second redundancy data having the same index identifier as the first redundancy data in a synchronization list based on the index identifier;

[0130] Step S522: When the value of the first redundancy data is the same as that of the second redundancy data and the time stamp of the first redundancy data is the same as that of the second redundancy data, obtaining the state of the first redundancy data.

[0131] In this embodiment, during use, the module first instantiates the foreground data class, registers the identifier of the redundancy synchronization module, the second redundancy data of the second flight computer, and other information into the synchronization list of the background data processing class, and returns the index identifier of the second redundancy data in the synchronization list. At the same time, the redundancy synchronization module can obtain the status information of the synchronization data through the synchronization status acquisition function and complete the synchronization logic processing. During the subsequent synchronization logic processing, the second redundancy data with the same index identifier as the first redundancy data can be obtained from the synchronization list based on the index identifier generated above. It is then determined whether the first redundancy data and the second redundancy data are identical. Specifically, if the numerical value of the first redundancy data is the same as the numerical value of the second redundancy data, and the time stamp of the first redundancy data is the same as the time stamp of the second redundancy data, it indicates that the first redundancy data and the second redundancy data are identical. If the first redundancy data and the second redundancy data are identical, the status of the first redundancy data is obtained.

[0132] According to the above technical solution, this embodiment determines whether the first redundancy data is identical to the second redundancy data by obtaining the second redundancy data having the same index identifier as the first redundancy data of the first flight computer in the synchronization list and comparing the value and time stamp of the first redundancy data with those of the second redundancy data.

[0133] Eighth embodiment:

[0134] Before step S110 in the first embodiment, the following steps are further included:

[0135] Step S610, instantiate the background data class, initialize the synchronization bus and synchronization list;

[0136] Step S620 , starting a data processing thread to execute step S110 based on the data processing thread to receive first redundancy data sent by the first flight computer.

[0137] In this embodiment, after the redundancy synchronization module foreground data class instantiation is completed, the user can instantiate the background data class and start the 10Hz background synchronization data processing thread, through which the data transmission and synchronization functions are completed. Figure 5 First, the background data processing instance is initialized to complete the bus initialization and synchronization information list check. Then, the 10Hz background processing thread receives the module synchronization data transmitted by other redundancies, retrieves the synchronization data table and compares it with the redundancy synchronization data. If the synchronization data is in the synchronization data table, the synchronization data time is recorded and the synchronization data are compared to see if they are equal. If they are not equal, the desynchronization counter is updated. If the desynchronization counter is greater than the maximum asynchronous tolerance, the synchronization data is switched to the asynchronous state, otherwise it is in the synchronous state, and the state is finally returned to the module. Finally, the data in the synchronization information list is encapsulated into a synchronous data packet and sent to other redundancies via the bus.

[0138] According to the above technical solution, this embodiment adopts the initialization of the background data class, the synchronization bus and the synchronization list, thereby preparing conditions for the subsequent transmission and synchronization of the redundant data.

[0139] The embodiments of the present application provide embodiments of a redundancy synchronization control method. It should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that shown here.

[0140] Based on the same inventive concept, an embodiment of the present application also provides a computer-readable storage medium, which stores a redundancy synchronization control program. When the redundancy synchronization control program is executed by the processor, it implements the various steps of the redundancy synchronization control as described above and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0141] Since the computer-readable storage medium provided in the embodiments of this application is the computer-readable storage medium used to implement the method of the embodiments of this application, those skilled in the art will be able to understand the specific structure and variations of the computer-readable storage medium based on the method described in the embodiments of this application, and therefore, no further description is given here. All computer-readable storage media used in the method of the embodiments of this application fall within the scope of protection to be provided by this application.

[0142] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0143] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0144] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0145] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0146] It should be noted that in the claims, any reference signs placed between brackets shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present application may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0147] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0148] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A redundancy synchronization control method, characterized in that: Applied to a redundancy synchronization module, the redundancy synchronization modules are respectively provided in a first flight computer and a second flight computer, the first flight computer includes a plurality of first flight computers, and each first flight computer communicates with the second flight computer via a CAN bus; the redundancy synchronization control method includes: receiving first redundancy data sent by a first flight computer; When the first redundancy data is different from the second redundancy data in the synchronization list of the second flight computer, accumulating a count value of the out-of-sync counter; determining a state of the first redundancy data according to a current count value of the out-of-step counter and a preset out-of-step value, wherein when the current count value of the out-of-step counter is greater than the preset out-of-step value, determining that the state of the first redundancy data is an out-of-step state; or, when the current count value of the out-of-step counter is less than or equal to the preset out-of-step value, clearing the current count value of the out-of-step counter and determining that the state of the first redundancy data is a synchronized state; When the state of the first redundancy data is a synchronization state, sending the first redundancy data to the second flight computer so that the second flight computer performs calculations using the first redundancy data; When the state of the first redundancy data is an out-of-sync state, the second redundancy data in the synchronization list is encapsulated into a data packet; and the data packet is sent to the first flight computer via a synchronization bus, so that the first flight computer uses the second redundancy data in the data packet to perform calculations.

2. The redundancy synchronization control method according to claim 1, wherein: After the step of receiving the first redundancy data sent by the first flight computer, the method further includes: When the first redundancy data is identical to the second redundancy data in the synchronization list of the second flight computer, the second redundancy data is sent to the second flight computer so that the second flight computer performs calculations using the second redundancy data.

3. The redundancy synchronization control method according to claim 1, wherein: The redundancy synchronization module includes a foreground data class and a background data class. The foreground data class is a friend class of the background data class, and the foreground data class is compatible with first redundancy data of at least two data types.

4. The redundancy synchronization control method according to claim 3, wherein: Before the step of receiving the first redundancy data sent by the first flight computer, the method further includes: Instantiate the front-end data class; Registering the identifier of the redundancy synchronization module and the second residual step data of the second flight computer into a synchronization list of a background data class, and feeding back an index identifier of the second residual step data in the synchronization list; When the first redundancy data is identical to the second redundancy data in the synchronization list, the step of acquiring the state of the first redundancy data includes: Acquire, from the synchronization list based on the index identifier, second redundancy data having the same index identifier as the first redundancy data; When the value of the first redundancy data is the same as that of the second redundancy data and the time scale of the first redundancy data is the same as that of the second redundancy data, the state of the first redundancy data is acquired.

5. The redundancy synchronization control method according to claim 4, wherein: Before the step of receiving the first redundancy data sent by the first flight computer, the method further includes: Instantiate the background data class, initialize the synchronization bus and synchronization list; A data processing thread is started to execute, based on the data processing thread, a step of receiving first redundancy data sent by a first flight computer.

6. A flight controller, characterized in that: The flight controller includes: a memory, a processor, and a redundancy synchronization control program stored in the memory and executable on the processor. When the redundancy synchronization control program is executed by the processor, the steps of the redundancy synchronization control method according to any one of claims 1 to 5 are implemented.

7. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a redundancy synchronization control program, which, when executed by a processor, implements the steps of the redundancy synchronization control method according to any one of claims 1 to 5.

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