A control system and method based on accompanying aircraft

Abstract

A control system and method based on an accompanying aircraft belongs to the field of aircraft control technology. The present invention includes: a data acquisition module acquires data from various sensors and actuators in an interrupt mode through an interface, performs frame format verification on the acquired data, and then transmits the data to a message queue of a data interaction module through a message API; the data interaction module is used to classify messages of data sent by the data acquisition module, perform data unpacking operations according to a communication protocol, and define a corresponding queue data structure for each data; and an API for providing data input and output operations for the data acquisition module and the data application module; the data application module is used to acquire message data through the message queue of the data interaction module and implement the algorithm of the flight control software; and real-time reception of data updates from the data acquisition module, corresponding algorithm calculations according to corresponding data flow rules, and sending the calculation results to the message queue of the data interaction module.

Description

Technical Field

[0001] The present invention relates to a control system and method based on an accompanying aircraft, belonging to the technical field of aircraft control. Background Art

[0002] At present, the development trend of aircraft networking is becoming more and more intense, and how to measure multiple aircraft flying at the same time to achieve the design effect is becoming more and more important. The previous measurement method is to record the change data of the space aircraft's attitude, position, speed, etc. by telemetry and storage, and then analyze the data on the ground. These data often cannot show the relationship between multiple aircraft in real time and intuitively, and require collaborative analysis by multiple parties to show the real results. The accompanying flight measurement device can realize the accompanying tracking flight observation of multiple aircraft in space, record the spatial status of multiple aircraft in real time, realize intuitive space measurement, and has a high efficiency in measuring and analyzing data.

[0003] The problems with the current method include: first, it is impossible to design the control software architecture of the measurement device aircraft that accompanies the flight, dynamically adjusts the attitude, and tracks multiple targets; second, the design and implementation are difficult due to the complicated pre-launch inspection of the accompanying aircraft, the complex control and navigation algorithms, and the interlaced timing. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art and provide a control system and method based on an accompanying aircraft for dynamically observing and measuring the aircraft and obtaining the spatial state data of the aircraft during flight.

[0005] The technical solution of the present invention is: a control system based on an accompanying aircraft, including a data acquisition module, a data interaction module and a data application module, and an operating system that provides an operating environment for each module;

[0006] The data acquisition module acquires data from various sensors and actuators in an interrupt mode through the interface, performs frame format verification on the acquired data, and then transmits the data to the message queue of the data interaction module through the message API; and performs data interaction with the data interaction module through the API of the operating system and the API written according to the needs of the accompanying aircraft control system;

[0007] The data interaction module is used to classify the data sent by the data acquisition module, perform data unpacking operations according to the communication protocol, define a corresponding queue data structure for each data; and provide an API for data input and output operations for the data acquisition module and the data application module;

[0008] The data application module is used to obtain message data through the data interaction module message queue and implement the algorithm of the flight control software; and receive data updates from the data acquisition module in real time, perform corresponding algorithm calculations according to corresponding data flow rules, and send the calculation results to the data interaction module message queue.

[0009] Furthermore, the operating system is a μC / OS-III operating system.

[0010] Furthermore, the μC / OS-III operating system modifies unused pre-compilation in the os_cfg.h file according to actual needs and the size of board-level storage resources to achieve the tailoring of the μC / OS-III operating system.

[0011] Furthermore, the source code of the flight control software is stored in an FKsource file of the μC / OS-III operating system.

[0012] Furthermore, the operating system is an operating system after transplantation; the transplantation work includes: μC / OS-III transplantation, μC / CPU transplantation, and board support package; wherein, μC / OS-III transplantation includes CPU-related code files OS_CPU.H, OS_CPU_C.C and OS_CPU_A.ASM; μC / CPU transplantation includes CPU.h, CPU_c.h, CPU_a.asm; board support package transplantation includes bsp.h, bsp.c, bsp_int.c, bsp_int.h; in the OS_CPU.H file, the data types 8-bit and 3-bit are modified. 2-bit, 64-bit, in the stack growth direction, the switch interrupt macro is 3; in the 0S_CPU_C.C file, use the OSTTaskStkInit(), OSTTaskSwHook(), OSTTaskIdleHook(), and OSTinitHookBegin() functions to initialize the task stack structure, grassroots task switching, power consumption mode configuration, and OS system initialization; in the 0S_CPU_A.ASM file, use the OSStart(), OSCtxSw(), and OSIntCtxSw() functions for multi-task management, task-level task switching, and interrupt-level task switching.

[0013] Furthermore, the interfaces used by the data acquisition module include a UART interface and a 1553B interface; wherein,

[0014] The IMU module, GNSS module, data link module, servo module, and data delay module use UART as the communication method, and check the frame structure of the received data, including the frame header, frame tail, frame type, frame length, and checksum. The corresponding interrupt numbers in the operating system are 422_In1, 422_In2, 422_In3, 422_In4, and 485_In5 respectively;

[0015] The communication mode used for ground inspection is 1553B, and its data is various instructions; the frame structure of the received data is checked, including the frame header, frame tail, identification code, sequence code, frame type, frame length, and checksum. The corresponding interrupt sequence number in the operating system is 1553B_In1;

[0016] The IO module uses UART as the communication method. The data it provides is a level signal. The received data is filtered and judged by level time. The 32 IO signals correspond to each bit of the 32-bit data, and the corresponding interrupt number in the operating system is IO_In1.

[0017] Furthermore, the message queue related structures in the μC / OS-III operating system include OS_Q, OS_MSG_Q, and OS_MSG; wherein the OS_Q structure contains the name of the message queue and a list of waiting message queues; the OS_MSG_Q structure is the message queue body, containing pointers to the head and tail of the message queue, the maximum length, historical length, and current length of the message queue; OS_MSG is the message body in the message queue, containing message content, size, and timestamp.

[0018] Furthermore, the algorithm includes matrix multiplication, matrix addition and subtraction, matrix transposition, quaternion conversion matrix, coordinate system conversion matrix, attitude solution, speed solution, position solution, overload command solution, PID parameter interpolation calculation, equivalent rudder decomposition calculation, command filtering calculation, and data fusion algorithm.

[0019] A control method based on an accompanying aircraft implemented based on the accompanying aircraft control system includes:

[0020] Through the interface, various sensors and actuators obtain data in an interrupt mode, perform frame format verification on the obtained data, and then transmit the data to the message queue through the message API; data interaction is carried out with the data interaction module through the operating system API and the custom API written according to the needs of the accompanying aircraft control system;

[0021] Classify the data sent by the data acquisition module, unpack the data according to the communication protocol, define the corresponding queue data structure for each data; and provide the data acquisition module and the data application module with an API for data input and output operations;

[0022] Obtain message data through the message queue and implement the algorithm of the flight control software; and receive data updates from the driver layer data acquisition module in real time, perform corresponding algorithm calculations according to the corresponding data flow rules, and realize accompanying aircraft control.

[0023] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the accompanying aircraft control method are implemented.

[0024] The advantages of the present invention compared with the prior art are:

[0025] (1) The present invention realizes dynamic attitude adjustment and multi-target tracking measurement by accompanying the aircraft control system, and realizes full-process, dynamic and high-precision measurement compared with the previous ground measurement method;

[0026] (2) The present invention realizes the modular design of the flight control system by accompanying the aircraft control system transplantation method, which improves the maintainability, reusability and portability of the system design compared with the unstructured and non-modular control systems in the past;

[0027] (3) The present invention realizes complicated inspection, complex control navigation algorithm and staggered timing design through accompanying aircraft control method. Compared with the previous control methods, it realizes in-depth reliability inspection of equipment, high-precision flight attitude control and timing process control. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is the overall framework diagram of the present invention;

[0029] Figure 2 This is a schematic diagram of the architecture layer of the present invention;

[0030] Figure 3 This is a schematic diagram of a data application module of the present invention;

[0031] Figure 4 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0032] In order to better understand the above technical scheme, the technical scheme of the present application is described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present application and the specific features in the embodiments are detailed descriptions of the technical scheme of the present application, rather than limitations on the technical scheme of the present application. In the absence of conflict, the embodiments of the present application and the technical features in the embodiments can be combined with each other.

[0033] The following is a further detailed description of a control system based on an accompanying aircraft provided by an embodiment of the present application in conjunction with the accompanying drawings. The specific implementation method may include (eg Figures 1 to 4 As shown in the figure): The control software architecture of the accompanying aircraft is divided into operating system optimization, operating system transplantation, data acquisition, data interaction, and data application. Each layer is subdivided into multiple functional modules, each module is independent of each other and designed as a thread. Each thread runs independently and is used according to the designed data flow rules.

[0034] An online upgrade method based on a companion aircraft control software architecture, the architecture comprising:

[0035] Operating system optimization:

[0036] The μC / OS-III system has abundant resources. In actual use, generally not all resources provided by the μC / OS-III system will be used. In order to reduce the introduction of unused μC / OS-III system resources, the operating system is trimmed.

[0037] Operating system porting:

[0038] The source code of the flight control software is placed in a dedicated file. Carry out porting work: μC / OS-III porting, μC / CPU porting, board support package.

[0039] Data acquisition module:

[0040] The data acquisition module is a bridge for data exchange between the flight control software and the hardware. Each driver module inside it corresponds to and is closely integrated with the hardware device. Through interfaces such as 1553B, SPI, UART, and IO, various sensors and actuators communicate data with the flight control software. Data is exchanged with the data link layer through the operating system API and the custom API. The overall implementation is to obtain data from external hardware through interrupts, perform frame format verification on the data, and then transmit the data to the message queue of the data link layer through various APIs.

[0041] Data interaction module:

[0042] The data link interaction layer is located between the data application module and the data acquisition module. It classifies the data sent by the data acquisition module, unpacks the data according to the communication protocol, and defines a corresponding queue data structure for each data. The data structure includes the device number, data update flag, data validity flag, data length, and data content. It provides data input and output operation APIs for data acquisition and data application. The flight software system is rich in functions, with more corresponding functional modules and more corresponding message queues.

[0043] Data application module:

[0044] The main functions of the data application module are navigation algorithm solution, guidance control solution, steering gear control solution, data filtering processing, data wild value elimination processing, data fusion processing, timing control solution, etc. The message data is obtained through the data link layer message queue, and the application layer is responsible for implementing the main algorithm functions of the flight control software. The application layer will wait for the driver layer data to be updated, perform the corresponding algorithm calculation according to the corresponding data flow rules, and send the calculation results to the message queue.

[0045] In the solution provided in the embodiment of the present application, a control software architecture based on an accompanying aircraft is provided, and the architecture includes the following:

[0046] Operating system optimization:

[0047] Trim the μC / OS-III system to reduce the introduction of unused μC / OS-III system resources. According to actual needs and the size of board-level storage resources, modify a large number of unused pre-compiled functions in os_cfg.h to implement μC / OS-III system trimming. For example, if event flags and semaphores are not used, these unnecessary communication mechanisms can be trimmed.

[0048] Operating system porting:

[0049] The source code of the flight control software is placed in the FKsource file. The main porting work is: μC / OS-III porting, μC / CPU porting, and board support package. The μC / OS-III porting mainly focuses on the CPU-related code files OS_CPU.H, 0S_CPU_C.C, and 0S_CPU_A.ASM. The μC / CPU porting mainly focuses on the files CPU.h, CPU_c.h, CPU_a.asm. The board support package porting mainly focuses on the files: bsp.h, bsp.c, bsp_int.c, bsp_int.h.

[0050] 0S_GPU.H is the code related to the processor and compiler, which mainly includes data type, word length of processor stack data type, direction of stack growth, task switching macro, switch interrupt, critical access processing, etc. In this project, multiple data types are set to 8 bits, 32 bits, and 64 bits. Under the stack growth direction, the switch interrupt macro is 3, etc.

[0051] The code in 0S_CPU_C.C is the function related to the operating system. The OSTTaskStkInit() function initializes the stack structure of the task. The main function of OSTTaskSwHook() is to implement the basic task switching. This project uses this to implement task switching. The main function of OSTTaskIdleHook() is to implement the CPU low power mode. The low power mode is configured here. OSTInitHookBegin() is mainly to put the OS related initialization related code here. The initialization code of this experiment is implemented here.

[0052] 0S_CPU_A.ASM includes all assembly language functions. This article uses the OSStart() function for multitasking management, the OSCtxSw() function for task-level task switching, and the OSIntCtxSw() function for interrupt-level task switching.

[0053] Data acquisition module:

[0054] The data acquisition module obtains data from various sensors and actuators in an interrupt mode through interfaces such as 1553B, SPI, UART, and IO, performs frame format verification on the data, and then transmits the data to the message queue of the data link layer through the message API. The data acquisition module also interacts with the data link layer through the operating system API and the custom API.

[0055] The IMU module, GNSS module, data link module, servo module, and data delay module use UART for communication. The frame structure of the received data is checked, including the frame header, frame tail, frame type, frame length, checksum, etc. The corresponding interrupt numbers in the system are 422_In1, 422_In2, 422_In3, 422_In4, and 485_In5.

[0056] The communication mode used for ground inspection is 1553B, and its data is various instructions. The frame structure of the received data is checked, including the frame header, frame tail, identification code, sequence code, frame type, frame length, checksum, etc. The corresponding interrupt sequence number in the system is 1553B_In1.

[0057] The IO module uses UART as the communication method. The data it provides is a level signal. It filters and judges the level time of the received data. The 32 IO signals correspond to each bit of the 32-bit data, and the corresponding interrupt number in the system is IO_In1.

[0058] Data interaction module:

[0059] The data link interaction layer classifies the data sent by the data acquisition module, unpacks the data according to the communication protocol, and defines a corresponding queue data structure for each data. The data structure includes the device number, data update flag, data validity flag, data length, and data content. It provides an API for data input and output operations for the data acquisition module and data application. The flight software system is rich in functions, with many corresponding functional modules and message queues. In order to unify management, facilitate use and collaborative development, the message queue members and data types are put in one file.

[0060] The message queue related structures in μC / OS-III of this project are OS_Q, OS_MSG_Q, and OS_MSG. The OS_Q structure contains the name of the message queue and the list of waiting message queues. The OS_MSG_Q structure is the message queue body, which contains pointers to the head and tail of the message queue, the maximum length, historical length, and current length of the message queue. OS_MSG is the message body in the message queue, which contains the message content, size, timestamp, etc.

[0061] Data application module:

[0062] Each function in the data application module adopts modular thinking and standardized data interaction interfaces. The algorithm module splits the basic calculation module to form an algorithm library, such as matrix multiplication, matrix addition and subtraction, matrix transposition, quaternion conversion matrix, coordinate system conversion matrix, attitude solution, speed solution, position solution, overload instruction solution, PID parameter interpolation calculation, equivalent rudder decomposition calculation, instruction filtering calculation, data fusion algorithm, etc. The message data is obtained through the data link layer message queue, and the application layer is responsible for realizing the main algorithm functions of the flight control software. The application layer will wait for the driver layer data to be updated, perform the corresponding algorithm calculation according to the corresponding data flow rules, and send the calculation results to the message queue.

[0063] The data application module interacts with the data link layer by calling the system-defined API and the self-defined API and subscribing to the message queue. This ensures that the flight control software can be transplanted to different platforms. Only the hardware driver layer needs to be modified, and the data structure, message queue, and algorithm do not need to be changed. After the algorithm is modularized, it is very convenient to add new algorithm function modules and to change existing algorithm function modules. For example, if an algorithm module is modified, its modification will have no effect on other modules. In this way, the coupling between software and hardware is minimized, and it is convenient to transplant and replace quickly according to the actual project requirements.

[0064] Based on Figure 1 The same inventive concept, the present invention also provides a method, comprising the following steps:

[0065] Receive and send data from various sensors, actuators and flight control software through hardware interfaces such as 1553B, SPI, UART, and IO. Perform frame format check on the received data, and then transfer the data to the message queue of the data interaction module through the input and output operation API of the data interaction module.

[0066] The data interaction module classifies the data sent by the data acquisition module, unpacks the data according to the communication protocol, and defines a corresponding queue data structure for each data. The data structure includes the device number, data update flag, data validity flag, data length, and data content. The message queue is sent using a broadcast mechanism, and storage space is dynamically applied for.

[0067] The main functions of the data application module are navigation algorithm solution, guidance control solution, steering gear control solution, data filtering processing, data wild value elimination processing, data fusion processing, timing control solution, etc. The flight control flow includes equipment pre-takeoff inspection, equipment parameter binding, preparation for takeoff, takeoff inspection, data acquisition, navigation calculation, guidance calculation, control calculation, etc.

[0068] The present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes Figure 1 The method described.

[0069] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may 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 may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) that contain computer-usable program code.

[0070] 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. 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.

[0071] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate 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 A function specified in one or more boxes.

[0072] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0073] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0074] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A control system based on an accompanying aircraft, characterized in that: It includes data acquisition module, data interaction module and data application module, as well as an operating system that provides an operating environment for each module; The data acquisition module acquires data from various sensors and actuators in an interrupt mode through the interface, performs frame format verification on the acquired data, and then transmits the data to the message queue of the data interaction module through the message API; and performs data interaction with the data interaction module through the API of the operating system and the API written according to the needs of the accompanying aircraft control system; The data interaction module is used to classify the data sent by the data acquisition module, perform data unpacking operations according to the communication protocol, define a corresponding queue data structure for each data; and provide an API for data input and output operations for the data acquisition module and the data application module; The data application module is used to obtain message data through the data interaction module message queue and implement the algorithm of the flight control software; and receive data updates from the data acquisition module in real time, perform corresponding algorithm calculations according to corresponding data flow rules, and send the calculation results to the data interaction module message queue; The operating system is μC / OS-III operating system.

2. The accompanying aircraft control system according to claim 1, characterized in that: The μC / OS-III operating system modifies unused pre-compilation in the os_cfg.h file according to actual needs and the size of board-level storage resources to achieve the tailoring of the μC / OS-III operating system.

3. The accompanying aircraft control system according to claim 1, characterized in that: The source code of the flight control software is stored in the FKsource file of the μC / OS-III operating system.

4. The accompanying aircraft control system according to claim 1, characterized in that: The operating system is the operating system after the transplantation work; the transplantation work includes: μC / OS-III transplantation, μC / CPU transplantation, and board support package; wherein, μC / OS-III transplantation includes CPU-related code files OS_CPU.H, OS_CPU_C.C and OS_CPU_A.ASM; μC / CPU transplantation includes CPU.h, CPU_c.h, CPU_a.asm; board support package transplantation includes bsp.h, bsp.c, bsp_int.c, bsp_int.h; in the OS_CPU.H file, modify the data types 8-bit, 32-bit, 64-bit, in the stack growth direction, the switch interrupt macro is 3; in the 0S_CPU_C.C file, use the OSTTaskStkInit(), OSTTaskSwHook(), OSTTaskIdleHook(), and OSTinitHookBegin() functions to initialize the task stack structure, grassroots task switching, power consumption mode configuration, and OS system initialization; in the 0S_CPU_A.ASM file, use the OSStart(), OSCtxSw(), and OSIntCtxSw() functions for multi-task management, task-level task switching, and interrupt-level task switching.

5. The accompanying aircraft control system according to claim 1, characterized in that: The interfaces used by the data acquisition module include UART interface and 1553B interface; wherein, The IMU module, GNSS module, data link module, servo module, and data delay module use UART as the communication method, and check the frame structure of the received data, including the frame header, frame tail, frame type, frame length, and checksum. The corresponding interrupt numbers in the operating system are 422_In1, 422_In2, 422_In3, 422_In4, and 485_In5 respectively; The communication mode used for ground inspection is 1553B, and its data is various instructions; the frame structure of the received data is checked, including the frame header, frame tail, identification code, sequence code, frame type, frame length, and checksum. The corresponding interrupt sequence number in the operating system is 1553B_In1; The IO module uses UART as the communication method. The data it provides is a level signal. The received data is filtered and judged by level time. The 32 IO signals correspond to each bit of the 32-bit data, and the corresponding interrupt number in the operating system is IO_In1.

6. The accompanying aircraft control system according to claim 1, characterized in that: The message queue related structures in the μC / OS-III operating system include OS_Q, OS_MSG_Q, and OS_MSG; wherein the OS_Q structure contains the name of the message queue and the list of waiting message queues; the OS_MSG_Q structure is the message queue body, which contains pointers to the head and tail of the message queue, the maximum length, historical length, and current length of the message queue; OS_MSG is the message body in the message queue, which contains the message content, size, and timestamp.

7. The accompanying aircraft control system according to claim 1, characterized in that: The algorithms include matrix multiplication, matrix addition and subtraction, matrix transposition, quaternion conversion matrix, coordinate system conversion matrix, attitude solution, speed solution, position solution, overload instruction solution, PID parameter interpolation calculation, equivalent rudder decomposition calculation, instruction filtering calculation, and data fusion algorithm.

8. A control method based on an accompanying aircraft implemented based on an accompanying aircraft control system according to any one of claims 1 to 7, characterized in that: include: Through the interface, various sensors and actuators obtain data in an interrupt mode, perform frame format verification on the obtained data, and then transmit the data to the message queue through the message API; data interaction is carried out with the data interaction module through the operating system API and the custom API written according to the needs of the accompanying aircraft control system; Classify the data sent by the data acquisition module, unpack the data according to the communication protocol, define the corresponding queue data structure for each data; and provide the data acquisition module and the data application module with an API for data input and output operations; Obtain message data through the message queue and implement the algorithm of the flight control software; and receive data updates from the driver layer data acquisition module in real time, perform corresponding algorithm calculations according to the corresponding data flow rules, and realize accompanying aircraft control.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method as claimed in claim 8 are implemented.

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