A redundancy control system decision method and device for a drone

Abstract

The application relates to a redundancy control system decision method and device for a UAV (unmanned aerial vehicle), which belongs to the technical field of UAV control. The method comprises the following steps: a redundancy decision maker receives control instructions and sensor state bits output by each flight controller in real time, and counts the number of normal working redundancies; the redundancy decision maker performs control instruction mutual inspection according to the number of normal working redundancies, and performs self-inspection according to the sensor state bits, to determine optimal control instructions; and the redundancy decision maker transmits the optimal control instructions to an actuator through a network interface, as effective control instructions at the current moment. The method can filter out optimal flight controllers according to control instructions and sensor state bits of multiple redundancies, and flight control of the UAV in the current control period is performed by using the optimal flight controllers. The method can flexibly realize redundancy expansion, efficiently and accurately judge the effectiveness of each redundancy, and improve the redundancy and safety of the UAV control system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle control, in particular to a decision-making method and device for a redundant control system of an unmanned aerial vehicle. BACKGROUND

[0002] With the wide application of unmanned aerial vehicle systems, the safety of unmanned aerial vehicles has also attracted much attention. Common safety problems mainly manifest in two aspects: first, the loss of equipment caused by unmanned aerial vehicle crashes; and second, the great threat to ground personnel and facilities.

[0003] Various statistical results show that the main causes of unmanned aerial vehicle crashes are two factors: one is the mechanical and electrical system failure of the unmanned aerial vehicle, and the other is human operation errors. The first factor accounts for a large proportion. Among the mechanical and electrical system failures of the unmanned aerial vehicle, the failure rate of the flight control system ranks first, mainly because the traditional flight control system mostly adopts a single machine and single sensor form, which is prone to the following failure points: the probability of hardware failure caused by memory, register, stack overflow and the influence of the electromagnetic environment; the probability of failure or damage of other components, especially sensors, in the electromagnetic, temperature, and vibration environment; and the probability of system downtime during the operation of the software, especially the operating system.

[0004] The performance of the flight control system directly determines the completion rate of the unmanned aerial vehicle task, and the flight control computer, i.e., the autopilot, is the core of the flight control system. The autopilot collects the original information of the unmanned aerial vehicle's attitude, speed, position, etc. from the on-board sensors, performs navigation calculation, and then calculates the control law, and finally outputs the control signal to the actuator to control the aircraft to fly according to the predetermined flight task. However, with the expansion of the application field of unmanned aerial vehicles, the tasks performed are becoming more and more complex, and the task execution environment can be extremely harsh, which puts a great pressure on the stability and reliability of the flight control system, thereby greatly increasing the probability of failure during flight and reducing the reliability of the flight control system. However, in actual application, the higher the reliability of the aircraft is required, the more complex and harsh the environment is for performing the task. In order to improve the reliability of the flight control system, relevant institutions at home and abroad have conducted a lot of research, and the research results show that, in addition to improving the quality of the components of the flight control system during design and manufacturing, the redundant technology is the fundamental way to improve the reliability of the flight control system.

[0005] At present, when the unmanned aerial vehicle is controlled based on the redundancy technology, the interconnection and intercommunication of multiple navigation devices and multiple control computers are mainly realized based on CAN bus and the like. The control computers simultaneously collect information of the multiple navigation devices, compare and fuse each other, obtain ideal navigation information for control law calculation. The output instructions of the multiple control computers are compared, and appropriate instruction is selected as the final control command of the actuator. However, this design form has the following problems: 1. the connection and expansion form of the hardware system is poor, and the flexibility of device upgrading and replacement is poor; 2. the comparison content of the navigation information is more, the information difference of different characteristic navigation devices is large, the unified judgment comparison method is difficult to design, the expansibility is poor, and the system maintenance is difficult. SUMMARY

[0006] Therefore, it is necessary to provide a decision method and device for a redundancy control system of an unmanned aerial vehicle aiming at the above technical problems.

[0007] A decision method for a redundancy control system of an unmanned aerial vehicle, the redundancy control system of the unmanned aerial vehicle comprising: multiple flight controllers interconnected through IP, one redundancy decision maker and one actuator, wherein each flight controller is connected with one navigation module; the navigation module is used for collecting sensor data and judging sensor state bits; the flight controller is used for receiving the sensor data and the sensor state bits output by the navigation module connected therewith, and calculating control instructions according to the sensor data; the method comprises:

[0008] The redundancy decision maker receives the control instructions and the sensor state bits output by each flight controller in real time, and counts the number of working redundancies.

[0009] The redundancy decision maker performs mutual inspection of the control instructions according to the number of working redundancies, and performs self-inspection according to the sensor state bits, to determine an optimal control instruction.

[0010] The redundancy decision maker transmits the optimal control instruction to the actuator through a network interface as an effective control instruction at the current time.

[0011] A decision device for a redundancy control system of an unmanned aerial vehicle, comprising:

[0012] A redundancy counting module, configured to receive the control instructions and the sensor state bits output by each flight controller in real time, and count the number of working redundancies.

[0013] An instruction determining module, configured to perform mutual inspection of the control instructions according to the number of working redundancies, and perform self-inspection according to the sensor state bits, to determine an optimal control instruction.

[0014] The instruction transmission module is configured to transmit the optimal control instruction to the actuator through a network interface as an effective control instruction at the current time.

[0015] The unmanned aerial vehicle redundancy control system decision method and device, the method comprising: a redundancy decision maker receiving control instructions and sensor state bits output by each flight controller in real time, and counting the number of working redundancies; the redundancy decision maker performing control instruction mutual inspection according to the number of working redundancies, and performing self-inspection according to the sensor state bits to determine the optimal control instruction; and the redundancy decision maker transmitting the optimal control instruction to the actuator through a network interface as an effective control instruction at the current time. This method can filter out the optimal flight controller according to the control instructions and sensor state bits of multiple redundancies, and use the optimal flight controller to perform flight control on the unmanned aerial vehicle in the current control period. This method can flexibly expand the redundancy, efficiently and accurately determine the effectiveness of each redundancy, and improve the redundancy and safety of the unmanned aerial vehicle control system. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The structure block diagram of the unmanned aerial vehicle redundancy control system in one embodiment;

[0017] Figure 2 The flowchart of the unmanned aerial vehicle redundancy control system decision method in one embodiment;

[0018] Figure 3 The flowchart of the unmanned aerial vehicle redundancy control system control instruction determination step in another embodiment;

[0019] Figure 4 The flowchart of the unmanned aerial vehicle redundancy control system three-redundancy signal voting method in another embodiment;

[0020] Figure 5 The flowchart of the unmanned aerial vehicle redundancy control system two-redundancy signal voting method in another embodiment;

[0021] Figure 6 The flowchart of the unmanned aerial vehicle redundancy control system processing method when only one redundancy signal is received in another embodiment;

[0022] Figure 7 The flowchart of the unmanned aerial vehicle redundancy control system processing method when no redundancy signal is received in another embodiment;

[0023] Figure 8 The flowchart of the unmanned aerial vehicle redundancy control system selecting the optimal control instruction according to the sensor data in combination with the flight controller priority in another embodiment. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present application clearer, the present application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0025] The present application provides a redundancy control system for unmanned aerial vehicle, and a redundancy control system decision method thereof. As shown in Figure 1 The redundancy control system for unmanned aerial vehicle comprises a plurality of sets of flight controllers 20 interconnected by IP, one set of redundancy decision maker 30, one set of actuator 40, and communication equipment 50 supporting IP interconnection function, wherein each set of flight controller is connected with one set of navigation module 10, and each flight controller comprises unmanned aerial vehicle dynamic model, which comprises attitude control loop and position control loop. The working principle of the redundancy control system for unmanned aerial vehicle is as follows: each navigation module 10 collects sensor data and judges sensor state bit, and transmits the same to the connected flight controller 20; each flight controller 20 calculates the control instruction of the aircraft according to the sensor data transmitted by the corresponding navigation module 10, and sends the control instruction and sensor state bit information to the redundancy decision maker 30 through the network interface; the redundancy decision maker 30 receives the control instruction and sensor state bit information output by the plurality of sets of flight controllers 20 through the network interface, and decides the reasonable control instruction according to the redundancy control system decision method for unmanned aerial vehicle, and sends the same to the actuator 40 through the network interface; the actuator 40 receives the optimal control instruction output by the redundancy decision maker 30 through the network interface, and drives the corresponding motion mechanism to work to realize the flight control of the unmanned aerial vehicle. The communication equipment 50 is used to realize the data transmission between the flight controller 20, the redundancy decision maker 30 and the actuator 40 through the IP network.

[0026] In one embodiment, as shown in Figure 1 , 2 A redundancy control system decision method for unmanned aerial vehicle is provided, and the redundancy control system for unmanned aerial vehicle comprises: a plurality of sets of flight controllers 20 interconnected by IP, one set of redundancy decision maker 30, and one set of actuator 40, wherein each set of flight controller 20 is connected with one set of navigation module 10; the navigation module 10 is used to collect sensor data and judge sensor state bit, and the sensor data comprises airspeed, position, height, attitude, heading and speed; the flight controller is used to receive the sensor data and sensor state bit output by the connected navigation module 10, and calculate the control instruction according to the sensor data; the method comprises the following steps:

[0027] Step 200: The redundancy decision maker receives the control instruction and sensor state bit output by each flight controller in real time, and counts the number of working redundancies.

[0028] Specifically, each flight controller is a redundancy.

[0029] The control signals and sensor data of multiple redundancies are received in real time according to a period, and the number of redundancies working normally is counted.

[0030] Step 202: The multi-redundancy decision maker performs control command mutual inspection according to the number of redundancies working normally, and performs self-inspection according to the sensor state bit, to determine the optimal control command.

[0031] Specifically, when the number of redundancies working normally is greater than or equal to 3, the control commands of every two flight controllers are compared, and the sensors are divided into three levels, the first level of sensors has the greatest impact on flight safety, the second level of sensors has greater impact on flight state and task, and the third level of sensors has smaller impact on flight safety. The sensor state bits output by each flight controller are checked according to the level, to complete system self-inspection, until the optimal flight controller is found, and the output of the optimal flight controller is taken as the effective control command at the current time.

[0032] When the number of redundancies working normally is equal to 2, the optimal flight controller is found according to the priority of the flight controller and the sensor state, and the output of the optimal flight controller is taken as the effective control command at the current time.

[0033] When the number of redundancies working normally is equal to 1, the control command output by the flight control sub-module corresponding to the redundancy is taken as the effective control command at the current time.

[0034] When the number of redundancies working normally is 0, the rudder neutral command is taken as the output.

[0035] The number of redundancies of the actually received flight controller, the priority of the flight controller, the difference of the control command, and the sensor state bit judgment information of the navigation module output by the flight controller are comprehensively considered, to determine the optimal control command of each control period in a hierarchical and graded manner.

[0036] The control command mutual inspection and the sensor state bit self-inspection are combined, the redundancy priority and the sensor data are combined, the optimal redundancy is periodically screened from multiple redundancies, and the optimal redundancy is taken as the control information source of the next period of the unmanned aerial vehicle system to be output, which can effectively improve the performance of the unmanned aerial vehicle system, thereby improving the system task completion rate.

[0037] Step 204: The multi-redundancy decision maker transmits the optimal control command to the actuator through the network interface, as the effective control command at the current time.

[0038] In the redundancy control system decision method of the unmanned aerial vehicle, the method comprises: a redundancy decision maker receiving control instructions and sensor state bits output by each flight controller in real time, and counting the number of working redundancies; the redundancy decision maker performs control instruction mutual inspection according to the number of working redundancies, and performs self-inspection according to the sensor state bits, to determine the optimal control instruction; and the redundancy decision maker transmits the optimal control instruction to an actuator through a network interface as an effective control instruction at the current time. The method can select the optimal flight controller according to the control instructions and sensor state bits of multiple redundancies, and use the optimal flight controller to perform flight control on the unmanned aerial vehicle in the current control period. The method can flexibly realize the expansion of redundancy, efficiently and accurately judge the effectiveness of each redundancy, and improve the redundancy and safety of the unmanned aerial vehicle control system.

[0039] In one embodiment, the step of determining the optimal control instruction in the redundancy decision maker comprises:

[0040] In each control period, if the number of working redundancies is greater than or equal to 3, a method combining control instruction cross-checking and sensor state bit judgment is used to determine the optimal control instruction.

[0041] In each control period, if the number of working redundancies is equal to 2, a comprehensive judgment is made according to the different priorities of the flight controllers and the sensor state bits to determine the optimal control instruction.

[0042] In each control period, if the number of working redundancies is equal to 1, the received control instruction of the flight controller is taken as the optimal control instruction.

[0043] In each control period, if the number of working redundancies is equal to 0, a neutral instruction of the control surface is used as the optimal control instruction.

[0044] The flow of the control instruction determination step of the unmanned aerial vehicle redundancy control system is as shown in Figure 3

[0045] ​In one of the embodiments, in each control cycle, if the number of working normal redundancies is greater than or equal to 3, the optimal control command is determined by combining the control command cross-checking and sensor state bit judgment, including: in each control cycle, if the number of working normal redundancies is greater than or equal to 3: according to the difference between the control commands of any two working normal redundancies and the difference threshold, the mutual detection state of the difference between the two redundancies is determined; the consistency of the two sets of working normal flight controllers is judged according to the mutual detection state value; the working normal flight controllers with mutual consistency are regarded as effective flight controllers, and the normal flight controllers without mutual consistency with other normal flight controllers are regarded as invalid flight controllers; if there is no mutual consistency between any two sets of working normal flight controllers, all working normal flight controllers are regarded as effective flight controllers; all effective flight controllers are sorted in order from high to low according to the redundancy priority, and the fault count of all effective control modules is counted from the effective flight controller with the highest redundancy priority; if there is an effective flight controller with a fault count less than a predetermined threshold, the control command output by the effective flight controller with the highest redundancy priority and the fault count less than the predetermined threshold is taken as the optimal control command; if the fault counts of all effective flight controllers are greater than the predetermined threshold, the optimal control command is determined according to the redundancy priority and sensor state bit of all effective flight controllers.

[0046] Specifically, (1) for N sets of flight controllers, the control commands output by any two sets of flight controllers are compared respectively, and the consistency of the two sets of flight controllers is judged according to the difference threshold, so as to judge the effectiveness of the two sets of flight controllers, that is, for the i th set of flight controller and the j th set of flight controller received by the multi-redundancy decision maker, the consistency of the two sets of flight controllers is judged according to formula (1), and the flight controllers with mutual consistency are regarded as effective flight controllers, and the flight controllers without mutual consistency with other flight controllers are regarded as invalid flight controllers; if there is no mutual consistency between any two sets of flight controllers, all flight controllers are regarded as effective flight controllers.

[0047] (2) For effective flight controllers, according to the priority from high to low, the state bit of each flight controller is self-checked and the fault count is operated. If the fault count of a certain flight controller is less than the set threshold, the control command of the flight controller is used as the reasonable control command output; if the fault counts of all flight controllers exceed the set threshold, the control command of which flight controller is used is determined according to the difference of the key of the sensor abnormal state bit.

[0048] In one of the embodiments, the mutual detection state of the difference between any two normally working redundancies is determined according to the difference between the control commands of the two redundancies and the differentiation threshold, comprising: determining the mutual detection state of the difference between the two redundancies according to the difference between the control commands of the two redundancies and the differentiation threshold.

[0049]

[0050] wherein, T ij is the differentiation threshold of the control commands between the redundancy i and the redundancy j, X ij is the mutual detection state of the difference between the redundancy i and the redundancy j, |Δε ij (t) is the difference between the same control command of the redundancy i and the redundancy j.

[0051] In one of the embodiments, if the fault counts of all the effective flight controllers are greater than the predetermined threshold, the optimal control command is determined according to the redundancy priority of all the effective flight controllers and the sensor state bit, comprising: if the fault counts of all the effective flight controllers exceed the predetermined threshold, the sensors are divided into three levels according to the different influences of the sensor data on the flight safety; wherein, the first level sensors include the sensors with the greatest influence on the flight safety, the second level sensors include the sensors with greater influence on the flight state, and the third level sensors include the sensors with smaller influence on the flight safety; the sensor abnormal state corresponding situation of the control commands of all the effective flight controllers is determined by checking the sensor state bit of each effective flight controller layer by layer according to the level of the sensors, and the optimal control command is determined.

[0052] In one of the embodiments, the sensor abnormal state corresponding situation of the control commands of all the effective flight controllers is determined by checking the sensor state bit of each effective flight controller layer by layer according to the level of the sensors, comprising: checking whether the sensor state bit of the first level sensors of each effective flight controller is abnormal; if only the sensor state bit of one set of effective flight controllers is not abnormal, the control command of the set of effective flight controllers is taken as the optimal control command; if the sensor state bit of the first level sensors of multiple sets of effective flight controllers is not abnormal, the sensor state bit of the second level sensors of the effective flight controllers with the sensor state bit of the first level sensors not abnormal is checked, and the optimal control command is determined according to the checking result; if the sensor state bit of the first level sensors of all the effective flight controllers is abnormal, the sensor state bit of the second level sensors of all the effective flight controllers is checked, and the optimal control command is determined according to the checking result.

[0053] In one of the embodiments, if there are multiple sets of the first level sensors of the valid flight controllers whose sensor status bits are normal, the sensor status bits of the second level sensors of the valid flight controllers whose sensor status bits of the first level sensors are normal are checked for abnormality, and the optimal control command is determined according to the checking result, including: if there are multiple sets of the first level sensors of the valid flight controllers whose sensor status bits are normal, the sensor status bits of the second level sensors of the valid flight controllers whose sensor status bits of the first level sensors are normal are checked for abnormality; if only one set of the second level sensors of the valid flight controllers whose sensor status bits are normal, the control command of the valid flight controller is used as the optimal control command; if there are multiple sets of the second level sensors of the valid flight controllers whose sensor status bits are normal, the sensor status bits of the third level sensors of the valid flight controllers whose sensor status bits of the second level sensors are normal are checked for abnormality, and the optimal control command is determined according to the checking result; if the sensor status bits of the second level sensors of all the valid flight controllers are abnormal, the control command of the valid flight controller with the highest redundancy priority among the valid flight controllers whose sensor status bits of the first level sensors are normal is used as the optimal control command.

[0054] In one of the embodiments, if there are multiple sets of the second level sensors of the valid flight controllers whose sensor status bits are normal, the sensor status bits of the third level sensors of the valid flight controllers whose sensor status bits of the second level sensors are normal are checked for abnormality, and the optimal control command is determined according to the checking result, including: if there are multiple sets of the second level sensors of the valid flight controllers whose sensor status bits are normal, the sensor status bits of the third level sensors of the valid flight controllers whose sensor status bits of the second level sensors are normal are checked for abnormality; if only one set of the third level sensors of the flight controllers whose sensor status bits are normal, the control command of the flight controller is used as the valid control command at the current time; if there are multiple sets of the third level sensors of the valid flight controllers whose sensor status bits are normal, the control command of the valid flight controller with the highest redundancy priority among the valid flight controllers whose sensor status bits of the third level sensors are normal is used as the optimal control command; if the sensor status bits of the third level sensors of all the valid flight controllers are abnormal, the control command of the valid flight controller with the highest redundancy priority among the valid flight controllers whose sensor status bits of the second level sensors are normal is used as the optimal control command.

[0055] In one of the embodiments, if all the sensor status bits of the first level sensors of all the valid flight controllers are abnormal, the sensor status bits of the second level sensors of all the valid flight controllers are checked, and the optimal control command is determined according to the checking result, including: if all the sensor status bits of the first level sensors of all the valid flight controllers are abnormal, the sensor status bits of the second level sensors of all the valid flight controllers are checked; if only one set of the sensor status bits of the second level sensors of the valid flight controllers is normal, the control command of the valid flight controller is used as the optimal control command; if there are multiple sets of the sensor status bits of the second level sensors of the valid flight controllers that are normal, the sensor status bits of the third level sensors of the valid flight controllers whose second level sensors are normal are checked, if only one set of the sensor status bits of the third level sensors of the valid flight controllers is normal, the control command of the valid flight controller is used as the optimal control command; if there are multiple sets of the sensor status bits of the third level sensors of the valid flight controllers that are normal, the control command of the valid flight controller with the highest redundancy priority among the valid flight controllers whose third level sensors are normal is used as the optimal control command; if all the sensor status bits of the third level sensors of all the valid flight controllers are abnormal, the control command of the valid flight controller with the highest redundancy priority among the valid flight controllers whose second level sensors are normal is used as the optimal control command; if all the sensor status bits of the second level sensors of all the valid flight controllers are abnormal, the sensor status bits of the third level sensors of all the valid flight controllers are checked, if only one set of the sensor status bits of the third level sensors of the valid flight controllers is normal, the control command of the valid flight controller is used as the optimal control command; if there are multiple sets of the sensor status bits of the third level sensors of the valid flight controllers that are normal, the control command of the valid flight controller with the highest redundancy priority among the valid flight controllers whose third level sensors are normal is used as the optimal control command; if all the sensor status bits of the third level sensors of all the flight controllers are abnormal, the control command of the flight controller with the highest redundancy priority among all the working flight controllers is used as the optimal control command.

[0056] In one specific embodiment, the unmanned aerial vehicle redundancy control system includes three flight controllers, i.e., the redundancy of the unmanned aerial vehicle redundancy control system is 3, and the decision algorithm of the unmanned aerial vehicle redundancy control system includes:

[0057] 1) Real-time receive the control instruction and sensor state bit information corresponding to three flight controllers, including the position information, attitude information, flight task and flight state information of the unmanned aerial vehicle, and count the number of redundancy working normally.

[0058] 2) According to the received number of flight controller redundancies, control instruction mutual inspection and sensor state bit self-inspection are performed, and reasonable control instructions are obtained by decision. If the outputs of the three flight controllers are normal, the reasonable control instructions are selected as the output by using the method of combining control instruction cross-checking and sensor state bit judgment, as shown in Figure 4 ; if one flight controller has no output, the reasonable control instructions are selected as the output according to the different priorities and state bit information of the flight controllers, as shown in Figure 5 ; if only one flight controller has output, the control instruction of the flight controller is used as the output, as shown in Figure 6 ; if all the three flight controllers have no output, the neutral instruction of the rudder surface is used as the output, as shown in Figure 7 .

[0059] Suppose there is a 3-redundancy control system, let ε1, ε2, ε3 be mutually independent random processes, representing the measurement values of a certain control instruction of redundancy 1, redundancy 2 and redundancy 3 respectively, T ij is the difference threshold of the control instruction between each redundancy, and the mutual inspection state X 12 , X 23 , X 31 value is:

[0060]

[0061] According to the above mutual inspection state values, it is judged whether the two sets of flight controllers have consistency, so as to judge the effectiveness of the two sets of flight controllers. If one of the flight controllers does not have mutual consistency with the other two sets of flight controllers, but the other two sets of flight controllers have mutual consistency, it is considered that the flight controller is invalid; otherwise, it is considered that the three sets of flight controllers are all effective.

[0062] 3) Start from the effective flight controller with the highest redundancy priority, judge the soft fault count (mutual inspection is effective, but the soft fault count is increased when there is a potential fault and sensor data anomaly), if the count is over limit, then judge the flight controller with the next priority. If the soft fault counts of the three flight controllers are all over limit, then use which flight controller according to the difference of the key sensor abnormal state bit combined with the priority of the flight controller.

[0063] The method of selecting the optimal flight controller according to the differentiation of the criticality of the sensor abnormal state bit in combination with the flight controller priority selects sensor data into three levels, the first level sensor has the greatest impact on flight safety, the second level sensor has greater impact on flight status and task, and the third level sensor has smaller impact on flight safety. The specific judgment process is as shown in Figure 8

[0064] The sensor state bit of the first level sensor of each flight controller is judged, and if:

[0065] 1) only one flight controller does not have an abnormality, the control instruction of the flight controller is used as the output.

[0066] 2) there are multiple flight controllers without abnormalities, the sensor state bit of the second level sensor of the flight controllers screened out in the first screening is judged, and if: ① only one flight controller does not have an abnormality, the control instruction of the flight controller is used as the output; ② there are multiple flight controllers without abnormalities, the sensor state bit of the third level sensor of the flight controllers screened out in the second screening is judged, and if: a. only one flight controller does not have an abnormality, the control instruction of the flight controller is used as the output, b. there are multiple flight controllers without abnormalities, one with the highest priority is selected as the output, c. all flight controllers have abnormalities, one with the highest priority among the flight controllers screened out in the second screening is used as the output; ③ all flight controllers have abnormalities, one with the highest priority among the flight controllers screened out in the first screening is used as the output.

[0067] ​3) all flight controllers exist abnormal, then consider the first screening results for all flight controllers, determine the sensor state bit of the second level sensor of the flight controller, if: ① only one flight controller does not exist abnormal, then use the control command of the flight controller as output; ② there are multiple flight controllers that do not exist abnormal, then determine the sensor state bit of the third level sensor of the flight controller screened out in the second screening, if: a. only one flight controller does not exist abnormal, then use the control command of the flight controller as output, b. there are multiple flight controllers that do not exist abnormal, then select one with the highest priority as output, c. all flight controllers exist abnormal, then use the flight controller with the highest priority among the flight controllers that work normally as output; ③ all flight controllers exist abnormal, then consider the second screening results for all flight controllers, determine the sensor state bit of the third level sensor of the flight controller, if: a. only one flight controller does not exist abnormal, then use the control command of the flight controller as output, b. there are multiple flight controllers that do not exist abnormal, then select one with the highest priority as output, c. all flight controllers exist abnormal, then use the flight controller with the highest priority among all flight controllers that work normally as output.

[0068] Through the unmanned aerial vehicle redundancy control system decision method, the control signals and sensor state bit information of three flight controllers can be received in real time, and the above data can be subjected to fault-tolerant control, realizing real-time collection and reliability processing of the reliability data of the flight control system, and then screening the optimal control command from the three redundancy control commands, and using the optimal control command to control the unmanned aerial vehicle in the current control period. In the present application, by providing an unmanned aerial vehicle redundancy control system decision algorithm, the redundancy of the unmanned aerial vehicle sensor and the robustness of the unmanned aerial vehicle control system can be improved, and the unmanned aerial vehicle can safely and stably perform the specified task.

[0069] Compared with the existing redundancy control method, the unmanned aerial vehicle redundancy control system decision method has the following beneficial effects:

[0070] 1) The main basis based on control command mutual inspection is combined with the secondary basis based on sensor state bit self-inspection, which realizes mutual redundancy judgment and complement of redundancy, and solves the decision problem in the case that the mutual inspection result is difficult to determine through sensor state bit self-inspection, thereby ensuring that reasonable output can be obtained in the entire state space.

[0071] 2) The redundancy decision is based on control command mutual inspection and sensor state bit self-inspection, the physical concept is clear, the calculation complexity and the error-prone problem caused by the comparison of multiple different types of sensor information sources and the same type of sensor information with different parameter attributes are omitted, the calculation amount is small, and the real-time calculation of the embedded system is facilitated.

[0072] 3) According to the different sensor state bits, the judgment is made, the sensors are considered in stages, the different requirements of safety and task completion degree can be better met, and the maximization of task completion degree is realized under the premise of ensuring flight safety.

[0073] It should be understood that, although Figures 2-8 The steps in the flowchart of the application are shown in sequence according to the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other orders. Moreover, Figures 2-8 At least part of the steps in the flowchart of the application can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be alternately executed with at least part of other steps or sub-steps or stages of other steps.

[0074] In one embodiment, a redundancy control system decision device of a UAV is provided, which comprises a redundancy statistical module, an instruction determination module and an instruction transmission module, wherein:

[0075] The redundancy statistical module is configured to receive the control instructions and sensor state bits output by each flight controller in real time, and to count the number of working redundancies.

[0076] The instruction determination module is configured to perform control instruction cross-checking according to the number of working redundancies, and to perform self-checking according to the sensor state bits, and to determine the optimal control instruction.

[0077] The instruction transmission module is configured to transmit the optimal control instruction to the actuator through the network interface as the effective control instruction at the current time.

[0078] In one embodiment, the instruction determination module is further configured to, in each control cycle, if the number of working redundancies is greater than or equal to 3, determine the optimal control instruction by combining control instruction cross-checking and sensor state bit judgment; in each control cycle, if the number of working redundancies is equal to 2, determine the optimal control instruction according to the different priorities of the flight controllers and the sensor state bits; in each control cycle, if the number of working redundancies is equal to 1, take the received control instruction of the flight controller as the optimal control instruction; in each control cycle, if the number of working redundancies is equal to 0, take the neutral instruction of the rudder as the optimal control instruction.

[0079] In one of the embodiments, the instruction determining module is further configured to, in each control cycle, if the number of normal working redundancy is greater than or equal to 3: determine mutual detection state of the difference between any two normal working redundancies according to the difference between the control instructions of the two redundancies and the difference threshold; determine consistency of the two sets of normal working flight controllers according to the mutual detection state value; take the normal working flight controllers with mutual consistency as valid flight controllers, and take the normal working flight controllers without mutual consistency with other normal working flight controllers as invalid flight controllers; if there is no mutual consistency between any two sets of normal working flight controllers, take all normal working flight controllers as valid flight controllers; sort all valid flight controllers according to redundancy priority from high to low, start from the valid flight controller with the highest redundancy priority, and count the fault counts of all valid flight controllers; if there is a valid flight controller with a fault count less than a predetermined threshold, take the control instruction output by the valid flight controller with the highest redundancy priority and the fault count less than the predetermined threshold as the optimal control instruction; if the fault counts of all valid flight controllers are greater than the predetermined threshold, determine the optimal control instruction according to the redundancy priority and the sensor state bit of all valid flight controllers.

[0080] In one of the embodiments, the instruction determining module is further configured to determine the expression of the mutual detection state of the difference between any two normal working redundancies according to the difference between the control instructions of the two redundancies and the difference threshold, as shown in formula (1).

[0081] In one of the embodiments, the instruction determining module is further configured to, if the fault counts of all valid flight controllers exceed the predetermined threshold: divide the sensors into three levels according to different influences of the sensor data on flight safety; wherein the first level sensors include the sensors with the greatest influence on flight safety, the second level sensors include the sensors with greater influence on flight state, and the third level sensors include the sensors with smaller influence on flight safety; check the sensor state bits of each valid flight controller layer by layer according to the levels of the sensors, determine the corresponding cases of sensor abnormal state of the control instructions of all valid flight controllers, and determine the optimal control instruction.

[0082] In one of the embodiments, the instruction determining module is further configured to check whether the sensor status bits of the first level sensors of the valid flight controllers are abnormal; if only one set of the sensor status bits of the valid flight controllers is not abnormal, the control instruction of the set of the valid flight controllers is taken as the optimal control instruction; if the sensor status bits of the first level sensors of multiple sets of the valid flight controllers are not abnormal, the sensor status bits of the second level sensors of the valid flight controllers whose first level sensors are not abnormal are checked, and the optimal control instruction is determined according to the checking result; if the sensor status bits of the first level sensors of all the valid flight controllers are abnormal, the sensor status bits of the second level sensors of all the valid flight controllers are checked, and the optimal control instruction is determined according to the checking result.

[0083] In one of the embodiments, the instruction determining module is further configured to check whether the sensor status bits of the first level sensors of the valid flight controllers are abnormal; if only one set of the sensor status bits of the valid flight controllers is not abnormal, the control instruction of the set of the valid flight controllers is taken as the optimal control instruction; if the sensor status bits of the first level sensors of multiple sets of the valid flight controllers are not abnormal, the sensor status bits of the second level sensors of the valid flight controllers whose first level sensors are not abnormal are checked, and the optimal control instruction is determined according to the checking result; if the sensor status bits of the first level sensors of all the valid flight controllers are abnormal, the sensor status bits of the second level sensors of all the valid flight controllers are checked, and the optimal control instruction is determined according to the checking result.

[0084] In one of the embodiments, the instruction determining module is further configured to, if there are multiple sets of second-level sensors of the effective flight controllers whose sensor status bits are not abnormal, check whether the sensor status bits of the third-level sensors of the effective flight controllers screened out from the multiple sets of second-level sensors of the effective flight controllers are abnormal; if there is only one set of third-level sensors of the flight controllers whose sensor status bits are not abnormal, use the control instruction of the flight controller as the effective control instruction at the current time; if there are multiple sets of third-level sensors of the effective flight controllers whose sensor status bits are not abnormal, use the control instruction of the effective flight controller with the highest redundancy priority among the effective flight controllers screened out from the multiple sets of third-level sensors of the effective flight controllers whose sensor status bits are not abnormal as the optimal control instruction; and if the sensor status bits of the third-level sensors of all the effective flight controllers are abnormal, use the control instruction of the effective flight controller with the highest redundancy priority among the effective flight controllers screened out from the second-level sensors of the effective flight controllers whose sensor status bits are not abnormal as the optimal control instruction.

[0085] In one of the embodiments, the instruction determining module is further configured to check whether the sensor status bits of the second level sensors of all the valid flight controllers are abnormal if the sensor status bits of the first level sensors of all the valid flight controllers are abnormal; use the control instruction of the valid flight controller whose second level sensor has no abnormal sensor status bit as the optimal control instruction if only one valid flight controller has no abnormal sensor status bit of the second level sensor; check whether the sensor status bits of the third level sensors of the valid flight controllers whose second level sensors have no abnormal sensor status bit are abnormal if multiple valid flight controllers have no abnormal sensor status bit of the second level sensor; use the control instruction of the valid flight controller whose third level sensor has no abnormal sensor status bit as the optimal control instruction if only one valid flight controller has no abnormal sensor status bit of the third level sensor; use the control instruction of the valid flight controller whose third level sensor has no abnormal sensor status bit as the optimal control instruction if multiple valid flight controllers have no abnormal sensor status bit of the third level sensor; use the control instruction of the valid flight controller whose third level sensor has no abnormal sensor status bit as the optimal control instruction if all the valid flight controllers have no abnormal sensor status bit of the second level sensor; check the sensor status bits of the third level sensors of all the valid flight controllers if all the valid flight controllers have no abnormal sensor status bit of the second level sensor; use the control instruction of the valid flight controller whose third level sensor has no abnormal sensor status bit as the optimal control instruction if only one valid flight controller has no abnormal sensor status bit of the third level sensor; use the control instruction of the valid flight controller whose third level sensor has no abnormal sensor status bit as the optimal control instruction if multiple valid flight controllers have no abnormal sensor status bit of the third level sensor; and use the control instruction of the valid flight controller whose third level sensor has no abnormal sensor status bit as the optimal control instruction if all the valid flight controllers have no abnormal sensor status bit of the third level sensor.

[0086] The specific limitations of the unmanned aerial vehicle redundancy control system decision device can refer to the limitations of the unmanned aerial vehicle redundancy control system decision method in the above, which will not be repeated here. Each module in the unmanned aerial vehicle redundancy control system decision device described above can be realized by software, hardware and their combinations in whole or in part. The above modules can be embedded in or independent of the processor in the computer device in hardware form, or can be stored in the memory in the computer device in software form, so as to be called and executed by the processor to perform the operations corresponding to each module.

[0087] Any combination of the technical features in the above embodiments can be made, and for the sake of brevity, not all possible combinations are described above, however, as long as the combination of the technical features does not exist in contradiction, it shall be considered within the scope of the present disclosure.

[0088] The above embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it shall not be understood as a limitation on the patent scope of the present application. It shall be pointed out that, for ordinary skilled persons in the art, several modifications and improvements can be made without departing from the concept of the present application, and these shall be within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A method for redundancy control system decision of unmanned aerial vehicle, characterized in that, The unmanned aerial vehicle redundancy control system comprises a plurality of sets of flight controllers interconnected through an IP, a set of redundancy decision makers and a set of actuators, wherein each set of flight controllers is separately connected to a set of navigation modules; the navigation module is used for collecting sensor data and judging sensor state bits; the flight controller is used for receiving the sensor data and the sensor state bits output by the navigation module connected thereto, calculating control instructions according to the sensor data; the method comprises: The redundancy decision maker receives the control instructions and sensor state bits output by each flight controller in real time, and counts the number of working redundancies; The redundancy decision maker determines the optimal control instruction according to the number of working redundancies and self-checks according to the sensor state bits; The redundancy decision maker transmits the optimal control instruction to the actuator through the network interface as the effective control instruction at the current time; In the redundancy decision maker: In each control cycle, if the number of working redundancies is greater than or equal to 3, the optimal control instruction is determined by combining control instruction cross-checking and sensor state bit judgment; In each control cycle, if the number of working redundancies is equal to 2, the optimal control instruction is determined by comprehensively judging the different priorities of the flight controllers and the sensor state bits; In each control cycle, if the number of working redundancies is equal to 1, the received control instruction of the flight controller is taken as the optimal control instruction; In each control cycle, if the number of working redundancies is equal to 0, the neutral instruction of the rudder surface is taken as the optimal control instruction.

2. The method of claim 1, wherein, In each control cycle, if the number of working redundancies is greater than or equal to 3, the optimal control instruction is determined by combining control instruction cross-checking and sensor state bit judgment, comprising: In each control cycle, if the number of working redundancies is greater than or equal to 3: According to the difference value between the control instructions of any two working redundancies and the difference threshold, the mutual detection state of the difference value between the two redundancies is determined; According to the mutual detection state value, the consistency of the two sets of working flight controllers is judged; The working flight controllers with mutual consistency are taken as effective flight controllers, and the working flight controllers without mutual consistency with other working flight controllers are taken as invalid flight controllers; If there is no mutual consistency between any two sets of working flight controllers, all working flight controllers are taken as effective flight controllers; All the effective flight controllers are sorted in order from high to low according to the redundancy priority, and the fault count of all effective control modules is counted from the effective flight controller with the highest redundancy priority; If there is an effective flight controller with a fault count less than a predetermined threshold, the control instruction output by the effective flight controller with the highest redundancy priority and a fault count less than a predetermined threshold is taken as the optimal control instruction. If the fault counts of all the valid flight controllers are greater than the predetermined threshold, the optimal control command is determined according to the redundancy priority and sensor status bit of all the valid flight controllers.

3. The method of claim 2, wherein, According to the difference between the control commands of any two normal redundancies and the difference threshold, the mutual detection state of the difference between the two redundancies is determined, including: According to the difference between the control commands of any two normal redundancies and the difference threshold, the mutual detection state of the difference between the two redundancies is determined, including: wherein, the redundancy i and the redundancy j a differentiated threshold of control instructions between the redundancy the redundancy i and the redundancy j a mutual detection state of the difference between the redundancy the redundancy i and the redundancy j the difference of the same control instruction between the redundancy 4. The method of claim 2, wherein, If the fault counts of all the valid flight controllers are greater than the predetermined threshold, the optimal control command is determined according to the redundancy priority and sensor status bit of all the valid flight controllers, including: If the fault counts of all the valid flight controllers exceed the predetermined threshold: According to the different effects of sensor data on flight safety, the sensors are divided into three levels; among them, the first level sensor includes the sensor with the greatest impact on flight safety, the second level sensor includes the sensor with greater impact on flight status, and the third level sensor includes the sensor with smaller impact on flight safety; According to the level of the sensor, the sensor status bit of each valid flight controller is checked layer by layer to determine the sensor abnormal state corresponding condition of the control command of all valid flight controllers, and the optimal control command is determined.

5. The method of claim 4, wherein, According to the level of the sensor, the sensor status bit of each valid flight controller is checked layer by layer to determine the sensor abnormal state corresponding condition of the control command of all valid flight controllers, and the optimal control command is determined, including: Check whether the sensor status bit of the first level sensor of each valid flight controller is abnormal; If only one set of valid flight controller has no abnormal sensor status bit, the control command of the valid flight controller is used as the optimal control command; If there are multiple sets of valid flight controllers with no abnormal sensor status bit of the first level sensor, the sensor status bit of the second level sensor of the valid flight controller with no abnormal sensor status bit of the first level sensor is checked for abnormality, and the optimal control command is determined according to the checking result; If all the valid flight controllers have abnormal sensor status bit of the first level sensor, check whether the sensor status bit of the second level sensor of all the valid flight controllers is abnormal, and determine the optimal control command according to the checking result.

6. The method of claim 5, wherein, If there are multiple sets of valid flight controllers with no abnormal sensor status bit of the first level sensor, the sensor status bit of the second level sensor of the valid flight controller with no abnormal sensor status bit of the first level sensor is checked for abnormality, and the optimal control command is determined according to the checking result, including: If there are multiple sets of valid flight controllers with no abnormal sensor status bit of the first level sensor, the sensor status bit of the second level sensor of the valid flight controller with no abnormal sensor status bit of the first level sensor is checked for abnormality; If only one set of valid flight controller has no abnormal sensor status bit of the second level sensor, the control command of the valid flight controller is used as the optimal control command; If there are multiple sets of valid flight controllers with no abnormal sensor status bit of the first level sensor, the sensor status bit of the second level sensor of the valid flight controller with no abnormal sensor status bit of the first level sensor is checked for abnormality; If there are multiple sets of second-level sensors of the effective flight controllers whose sensor status bits are normal, the sensor status bits of the third-level sensors of the effective flight controllers whose second-level sensors are screened and whose sensor status bits are normal are checked for abnormalities, and the optimal control command is determined according to the checking result. If all the second-level sensors of the effective flight controllers have abnormal sensor status bits, the control command of the effective flight controller with the highest redundancy priority among the effective flight controllers whose first-level sensors are screened and whose sensor status bits are normal is used as the optimal control command.

7. The method of claim 6, wherein, If there are multiple sets of second-level sensors of the effective flight controllers whose sensor status bits are normal, the sensor status bits of the third-level sensors of the effective flight controllers whose second-level sensors are screened and whose sensor status bits are normal are checked for abnormalities, and the optimal control command is determined according to the checking result, comprising: If there are multiple sets of second-level sensors of the effective flight controllers whose sensor status bits are normal, the sensor status bits of the third-level sensors of the effective flight controllers whose second-level sensors are screened and whose sensor status bits are normal are checked for abnormalities. If only one set of flight controller third-level sensor has a normal sensor status bit, the control command of the flight controller is used as the effective control command at the current time. If there are multiple sets of third-level sensors of the effective flight controllers whose sensor status bits are normal, the control command of the effective flight controller with the highest redundancy priority among the effective flight controllers whose third-level sensors are screened and whose sensor status bits are normal is used as the optimal control command. If all the third-level sensors of the effective flight controllers have abnormal sensor status bits, the control command of the effective flight controller with the highest redundancy priority among the effective flight controllers whose second-level sensors are screened and whose sensor status bits are normal is used as the optimal control command.

8. The method of claim 5, wherein, If all the first-level sensors of the effective flight controllers have abnormal sensor status bits, the second-level sensors of all the effective flight controllers are checked for abnormalities, and the optimal control command is determined according to the checking result, comprising: If all the first-level sensors of the effective flight controllers have abnormal sensor status bits, the second-level sensors of all the effective flight controllers are checked for abnormalities. If only one set of effective flight controller second-level sensor has a normal sensor status bit, the control command of the effective flight controller is used as the optimal control command. If only one set of effective flight controller second-level sensor has a normal sensor status bit, the control command of the effective flight controller is used as the optimal control command. If there are multiple sets of second-level sensor state bits of the effective flight controllers without abnormality, the third-level sensor state bits of the effective flight controllers with the second-level sensor state bits without abnormality are checked for abnormality, if there is only one set of third-level sensor state bits of the effective flight controllers without abnormality, the control instruction of the effective flight controller is used as the optimal control instruction; if there are multiple sets of third-level sensor state bits of the effective flight controllers without abnormality, the control instruction of the effective flight controller with the highest redundancy priority among the effective flight controllers with the third-level sensor state bits without abnormality is used as the optimal control instruction; if all the third-level sensor state bits of the effective flight controllers have abnormality, the control instruction of the effective flight controller with the highest redundancy priority among the effective flight controllers with the second-level sensor state bits without abnormality is used as the optimal control instruction; If all the second-level sensor state bits of the effective flight controllers have abnormality, the third-level sensor state bits of all the effective flight controllers are checked, if there is only one set of third-level sensor state bits of the effective flight controllers without abnormality, the control instruction of the effective flight controller is used as the optimal control instruction; if there are multiple sets of third-level sensor state bits of the effective flight controllers without abnormality, the control instruction of the effective flight controller with the highest redundancy priority among the effective flight controllers with the third-level sensor state bits without abnormality is used as the optimal control instruction; if all the third-level sensor state bits of the flight controllers have abnormality, the control instruction of the flight controller with the highest redundancy priority among all the working flight controllers is used as the optimal control instruction.

9. A drone redundancy control system decision device, characterized by, The method comprises the following steps: a redundancy statistics module is configured to receive the control instruction and the sensor state bit output by each flight controller in real time and to count the number of working redundancies; an instruction determination module is configured to determine the optimal control instruction according to the control instruction mutual inspection based on the number of working redundancies and according to the self-inspection based on the sensor state bit; specifically, in each control cycle, if the number of working redundancies is greater than or equal to 3, the optimal control instruction is determined by combining the control instruction cross-checking and the sensor state bit judgment; in each control cycle, if the number of working redundancies is equal to 2, the optimal control instruction is determined by comprehensively judging the different priorities of the flight controllers and the sensor state bit; in each control cycle, if the number of working redundancies is equal to 1, the control instruction of the received flight controller is used as the optimal control instruction; in each control cycle, if the number of working redundancies is equal to 0, the neutral instruction of the rudder surface is used as the optimal control instruction; The instruction transmission module is configured to transmit the optimal control instruction to an actuator through a network interface as an effective control instruction at a current time.

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