Navigation device switching processing method and apparatus, flying car, and storage medium

Abstract

The application relates to a navigation device switching processing method and device, a flying car and a storage medium. The method comprises the following steps: after a switching condition is met, according to navigation data of a current navigation device and a backup navigation device, smooth navigation data is determined according to a preset data smoothing processing algorithm; the current navigation device is switched to the backup navigation device, and the smooth navigation data is output. The scheme provided in the application can smoothly switch the navigation device, and can avoid shaking of the flying car.

Description

Technical Field

[0001] This application relates to the field of flying car technology, and in particular to a navigation device switching processing method, apparatus, flying car and storage medium. Background Technology

[0002] The navigation equipment in a flying car is the source of positioning data for the flight control system and autopilot system, and its reliability is crucial. Navigation failure can have catastrophic consequences for the flying car, such as causing it to crash into the ground or crash into the ground.

[0003] In related technologies, to ensure the safety of flying cars, multiple navigation devices are installed on the vehicle. When one navigation device malfunctions, it is promptly switched to another to ensure the normal operation of the flying car's navigation system.

[0004] However, due to the discrepancies in navigation data between different navigation devices, switching directly can cause a "jump" in the navigation data received by the flight control system, resulting in shaking of the flying car. This can affect passenger comfort or even cause the flying car to lose control. Summary of the Invention

[0005] To solve or partially solve the problems existing in the related technologies, this application provides a navigation device switching processing method, device, flying car and storage medium, which can smoothly switch navigation devices and avoid flying car shaking.

[0006] The first aspect of this application provides a navigation device switching processing method, including:

[0007] After the switching conditions are met, smooth navigation data is determined based on the navigation data of the current navigation device and the backup navigation device, according to the preset data smoothing algorithm.

[0008] Switch the current navigation device to the backup navigation device and output the smooth navigation data.

[0009] In one implementation, the switching conditions include:

[0010] The historical fault duration of the navigation data of the backup navigation device is less than a preset error threshold, and the historical normal duration of the navigation data of the backup navigation device is greater than a preset normal threshold.

[0011] The preset normal threshold is determined based on the historical fault duration of the backup navigation device's navigation data.

[0012] In one implementation, when the current navigation device is the set default device, the switching condition further includes:

[0013] The default device setting has malfunctioned.

[0014] In one implementation, the switching conditions include:

[0015] The diagnostic results of the target type sensor reach the first set threshold;

[0016] The occurrence level of the target type fault has reached the second preset threshold;

[0017] The duration of the target type fault reaches the third set threshold.

[0018] In one implementation, before determining the smoothed navigation data based on the navigation data of the current navigation device and the backup navigation device according to a preset data smoothing algorithm after the switching conditions are met, the method further includes:

[0019] Obtain fault diagnosis results and historical fault data;

[0020] Based on the fault diagnosis results and the historical fault data, determine whether the switching conditions are met.

[0021] In one implementation, the historical fault data includes: the historical fault duration and the historical normal duration of navigation data for each navigation device;

[0022] The navigation data includes at least one of the following: location information, speed information, attitude information, altitude information, and heading information.

[0023] In one embodiment, determining smoothed navigation data based on navigation data from the current navigation device and the backup navigation device, according to a preset data smoothing algorithm, includes:

[0024] Obtain the current navigation data of the current navigation device and the backup navigation data of the backup navigation device, and calculate the weighting coefficients;

[0025] Smooth navigation data is calculated based on the current navigation data, the backup navigation data, and the weighting coefficients.

[0026] In one implementation, the step of acquiring the current navigation data of the current navigation device and the backup navigation data of the backup navigation device, and calculating the weighting coefficient, includes:

[0027] Calculate the smoothing time based on the current navigation data of the current navigation device and the backup navigation data of the backup navigation device;

[0028] The weighting coefficients are calculated based on the smoothing time.

[0029] A second aspect of this application provides a navigation device switching processing apparatus, comprising:

[0030] The calculation module is used to determine smooth navigation data based on the navigation data of the current navigation device and the backup navigation device, according to a preset data smoothing algorithm, after the switching conditions are met.

[0031] The switching module is used to switch the current navigation device to the backup navigation device and output the smooth navigation data determined by the calculation module.

[0032] A third aspect of this application provides a flying car, comprising:

[0033] Processor; and

[0034] A memory that stores executable code, which, when executed by the processor, causes the processor to perform the method described above.

[0035] A fourth aspect of this application provides a computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method described above.

[0036] The technical solution provided in this application may include the following beneficial effects:

[0037] The method provided in this application, after meeting the switching conditions, calculates smoothed navigation data based on the navigation data of the current navigation device and the backup navigation device, according to a preset data smoothing algorithm; switches the current navigation device to the backup navigation device, and outputs the smoothed navigation data. In this way, because the smoothed navigation data buffers the differences between navigation data from different navigation devices, after switching the current navigation device to the backup navigation device, the flight control system can perform navigation based on the smoothed navigation data, resulting in a smoother navigation result without sudden changes in navigation data. This avoids shaking in the flying vehicle and achieves a smooth switching of navigation devices.

[0038] Furthermore, the method provided in this application allows the switching conditions to include: the historical fault duration of the navigation data of the backup navigation device being less than a preset error threshold, and the historical normal duration of the navigation data of the backup navigation device being greater than a preset normal threshold. This ensures the reliability of the backup navigation device and guarantees the correctness of navigation after switching the current navigation device to the backup navigation device.

[0039] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0040] The above and other objects, features and advantages of this application will become more apparent from the more detailed description of exemplary embodiments thereof in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments thereof.

[0041] Figure 1 This is a schematic flowchart illustrating the navigation device switching process in an embodiment of this application;

[0042] Figure 2 This is another schematic flowchart illustrating the navigation device switching process in the embodiments of this application;

[0043] Figure 3 This is a schematic diagram of the navigation device switching processing apparatus shown in the embodiments of this application;

[0044] Figure 4 This is another schematic diagram of the navigation device switching processing apparatus shown in the embodiments of this application;

[0045] Figure 5 This is a schematic diagram of the structure of a flying car shown in an embodiment of this application. Detailed Implementation

[0046] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While embodiments of this application are shown in the drawings, it should be understood that this application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make this application more thorough and complete, and to fully convey the scope of this application to those skilled in the art.

[0047] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0048] It should be understood that although the terms "first," "second," "third," etc., may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0049] In related technologies, due to the discrepancies in navigation data between different navigation devices, direct switching can cause a "jump" in the navigation data received by the flight control system, resulting in shaking of the flying car. This can affect passenger comfort or even cause the flying car to lose control.

[0050] To address the aforementioned issues, this application provides a navigation device switching method that enables smooth switching of navigation devices and avoids shaking in flying cars.

[0051] The technical solutions of the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0052] Figure 1 This is a schematic flowchart illustrating the navigation device switching process in an embodiment of this application.

[0053] See Figure 1 The method includes:

[0054] S101. After the switching conditions are met, based on the navigation data of the current navigation device and the backup navigation device, and according to the preset data smoothing algorithm, determine the smoothed navigation data.

[0055] The switching conditions may include: the historical fault duration of the backup navigation device's navigation data is less than a preset error threshold, and the historical normal duration of the backup navigation device's navigation data is greater than a preset normal threshold. The preset normal threshold is determined based on the historical fault duration of the backup navigation device's navigation data.

[0056] It should be noted that in this embodiment, the current navigation device and the backup navigation device are navigation devices; that is, the current navigation device is the current navigation device, and the backup navigation device is the backup navigation device. It can be understood that the navigation device generates navigation data, which may include at least one of the following: position information, speed information, attitude information, altitude information, and heading information.

[0057] Furthermore, the backup navigation devices may include two or more backup navigation devices. In one embodiment, navigation data from one of the backup navigation devices may be used. In another embodiment, navigation data from the backup navigation device with a preset higher priority, such as the highest priority, may be used.

[0058] In this step, based on the navigation data from the current navigation device and the backup navigation device, and according to a preset data smoothing algorithm, smoothed navigation data is determined. This may include: obtaining the current navigation data from the current navigation device and the backup navigation data from the backup navigation device, and calculating weighting coefficients; and calculating smoothed navigation data based on the current navigation data, the backup navigation data, and the weighting coefficients.

[0059] Furthermore, obtaining the current navigation data of the current navigation device and the backup navigation data of the backup navigation device, and calculating the weighting coefficient, may include: calculating the smoothing time based on the current navigation data of the current navigation device and the backup navigation data of the backup navigation device; and calculating the weighting coefficient based on the smoothing time.

[0060] S102. Switch the current navigation device to the backup navigation device and output smooth navigation data.

[0061] In this step, the navigation device is switched, and the current navigation device is switched to the backup navigation device. The output smooth navigation data is the data used by the flight control system after the navigation device switch. The smooth navigation data buffers the differences between navigation data from different navigation devices, ensuring a smooth switch of navigation data after the navigation device switch.

[0062] As can be seen from this embodiment, the method provided in this application, after meeting the switching conditions, calculates smooth navigation data based on the navigation data of the current navigation device and the backup navigation device, according to a preset data smoothing algorithm; switches the current navigation device to the backup navigation device, and outputs the smooth navigation data. In this way, because the smooth navigation data buffers the differences between navigation data from different navigation devices, after switching the current navigation device to the backup navigation device, the flight control system can perform navigation based on the smooth navigation data, resulting in a smoother navigation result without sudden changes in navigation data. This avoids shaking in the flying car and achieves a smooth switching of navigation devices.

[0063] Figure 2 This is another flowchart illustrating the navigation device switching process according to an embodiment of this application. Figure 2 relatively Figure 1 The scheme of this application is described in more detail.

[0064] See Figure 2 The method includes:

[0065] S201. Obtain fault diagnosis results and historical fault data.

[0066] In this step, obtaining the fault diagnosis result can refer to obtaining the fault diagnosis result of the current navigation device. It can be understood that the fault diagnosis result can determine whether the current navigation device has malfunctioned. The fault diagnosis result can be provided by the fault diagnosis algorithm at the front end of the flying car; for information on fault diagnosis algorithms, please refer to relevant technologies, which will not be elaborated upon in this application.

[0067] In one embodiment, the fault diagnosis results may include at least one of position diagnosis results, velocity diagnosis results, and attitude diagnosis results. In other embodiments, the fault diagnosis results may also include altitude diagnosis results, heading diagnosis results, diagnosis results of different types of sensors, fault occurrence levels of different types, and durations of different types of faults.

[0068] It is understandable that historical fault data can be constructed by recording the fault diagnosis results. In other words, historical fault data can be generated by recording the historical fault states of each navigation device.

[0069] In one implementation, the historical fault data includes the historical fault duration and historical normal duration of navigation data for each navigation device. The navigation data includes at least one of the following: location information, speed information, attitude information, altitude information, and heading information.

[0070] For example, the historical fault data of navigation device A may include the duration of historical faults in which navigation device A had location information errors and the duration of historical normal faults in which the location information was normal.

[0071] In one implementation, t f t represents the duration of historical faults. n This represents the historical normal duration. Let the current navigation device be navigation device 1, and the backup navigation device be navigation device 2. The historical fault duration of navigation device 1 can be represented as t. 1f The duration of historical faults of navigation device 2 can be expressed as t. 2f The historical normal duration of navigation device 1 can be expressed as t. 1n The historical normal duration of navigation device 2 can be expressed as t. 2n .

[0072] The principles for recording fault diagnosis results can be as follows:

[0073] If any information such as position, velocity, or attitude is incorrect, then t f =t f +dt,t n =0.

[0074] If all information such as position, velocity, and attitude is normal, then t n =t n +dt.

[0075] Where dt is the data update period.

[0076] S202. Based on the fault diagnosis results and historical fault data, determine whether the switching conditions are met.

[0077] In one implementation, the switching conditions may include:

[0078] The historical fault duration of the navigation data of the backup navigation device is less than the preset error threshold, and the historical normal duration of the navigation data of the backup navigation device is greater than the preset normal threshold.

[0079] The preset error threshold can be expressed as T. f .

[0080] The preset normal threshold is determined based on the historical fault duration of the backup navigation device's navigation data. For example, it can be based on the historical fault duration t of the backup navigation device's navigation data. f In addition to a preset switching factor K (K>1), a preset normal threshold is output. In one embodiment, the preset normal threshold is equal to the preset switching factor K multiplied by the historical fault duration t of the backup navigation device's navigation data. f That is, the preset normal threshold is K*t f .

[0081] Furthermore, in one embodiment, the switching condition may be: the historical fault duration of the navigation data of the backup navigation device is less than a preset error threshold, and the historical normal duration of the navigation data of the backup navigation device is greater than a preset normal threshold.

[0082] In one implementation, when the current navigation device is the default device, the switching condition further includes: the default device malfunctions. That is, when the current navigation device is the default device, the switching condition includes: the default device malfunctions, the historical fault duration of the navigation data of the backup navigation device is less than a preset error threshold, and the historical normal duration of the navigation data of the backup navigation device is greater than a preset normal threshold.

[0083] Examples will be provided for clarity, but this is not the only one.

[0084] In this embodiment, if the current navigation device is navigation device 1, navigation device 1 is the default device, and the backup navigation device is navigation device 2, then when the following three conditions (1), (2), and (3) are met, navigation device 1 switches to navigation device 2.

[0085] (1) Navigation device 1 malfunctioned;

[0086] (2)t 2f <T f ;

[0087] (3)t 2n >K*t 2f ;

[0088] Among them, t2f For the historical fault duration of navigation device 2, T f To preset the error threshold, t 2n K*t represents the historical normal duration of navigation device 2. 2f The preset normal threshold is K, which is the switching factor (K>1).

[0089] It is understandable that when any navigation data of navigation device 1 is erroneous, that is, navigation device 1 malfunctions. Condition (2) means that the historical malfunction of navigation device 2 has lasted for too long, and it can be considered that navigation device 2 is damaged and will never be used again. Condition (3) means that the longer the historical malfunction of navigation device 2 lasts, the longer it will take to remain stable.

[0090] In this embodiment, if the current navigation device is navigation device 2, the backup navigation device is navigation device 1, and navigation device 1 is the default device, then when the following two conditions (4) and (5) are met, navigation device 2 switches to navigation device 1.

[0091] (4)t 1f <T f ;

[0092] (5)t 1n >K*t 1f ;

[0093] Among them, t 1f T represents the duration of historical faults of navigation device 1. f To preset the error threshold, t 1n K*t represents the historical normal duration of navigation device 1. 1f The preset normal threshold is K, which is the switching factor (K>1).

[0094] It is understandable that once navigation device 1, which is set as the default device, continues to operate normally, the navigation data output device used by the flight control system will switch from navigation device 2 to navigation device 1. This switch does not require navigation device 2 to malfunction, because navigation device 1, as the default device, serves as the primary navigation, which to some extent reduces the impact of misdiagnosis by the fault diagnosis algorithm.

[0095] In other embodiments, the switching conditions may also include: the diagnostic result of the target type sensor reaches a first preset threshold; the occurrence level of the target type fault reaches a second preset threshold; and the duration of the target type fault reaches a third preset threshold.

[0096] For example, if a target type sensor (e.g., an attitude information sensor) diagnoses a fault, it outputs 1; if the diagnosis is normal, it outputs 0. Thus, the first threshold can be set to 1. Furthermore, the occurrence level can be categorized as "small," "medium," or "large" based on severity. The second threshold can be set to "medium." If the occurrence level of a target type fault (e.g., position information error) is "medium," the second threshold is reached. Further, the duration can be 0.5s, 1s, 5s, etc. The third threshold can be set to 1s. If the duration of a target type fault reaches 1s, the third threshold is reached.

[0097] S203. After the switching conditions are met, smooth navigation data is calculated based on the navigation data of the current navigation device and the backup navigation device, according to the preset data smoothing algorithm.

[0098] Step S203 may include the following steps:

[0099] S203-1. Calculate the smoothing time based on the current navigation data of the current navigation device and the backup navigation data of the backup navigation device.

[0100] It should be noted that the navigation data in the following implementation method is described in detail using position information, speed information and attitude information as examples, but it is not limited to these. The navigation data may also include other navigation information, such as altitude information, heading information, etc.

[0101] In this step, the smoothing time t s It can be obtained by taking the maximum value among the smoothing times of various target navigation information within the set navigation data range.

[0102] The range of navigation data can include position information, velocity information, and attitude information, and the smoothing time for navigation information of a certain target can be the smoothing time t for position information. p Speed ​​information smoothing time t v Attitude information smoothing time t θ .

[0103] The target navigation information smoothing time can be calculated based on the target navigation information in the current navigation data of the current navigation device and the target navigation information in the backup navigation data of the backup navigation device at the switching time, using a preset target navigation information given smoothing rate. For example, the location information smoothing time t p Based on the current navigation device's position p1 (one of the target navigation information) and the backup navigation device's position p2 at the switching moment, a smoothing rate r can be given using preset position information. pThe calculation yields the result. Here, p1 represents the location information in the current navigation data, and p2 represents the location information in the backup navigation data.

[0104] In one embodiment, see the following formula:

[0105]

[0106]

[0107]

[0108] Where p1 is the position of the current navigation device, p2 is the position of the backup navigation device; v1 is the speed of the current navigation device, v2 is the speed of the backup navigation device; θ1 is the attitude of the current navigation device, θ2 is the attitude of the backup navigation device; r p Given a smoothing rate r for the preset position information v Given a smoothing rate for the preset speed information, r θ A smoothing rate is given for the preset attitude information; it can be seen that r p r v r θ The higher the value, the faster the switching speed between devices.

[0109] Among them, the location information smoothing time t p This represents the time required to switch location information from the current navigation device to the backup navigation device. Similarly, the speed information smoothing time t... v This represents the time required to switch speed information from the current navigation device to the backup navigation device, and the attitude information smoothing time t. θ This indicates the time required for attitude information to be switched from the current navigation device to the backup navigation device.

[0110] In one implementation, the smoothing time t s Please refer to the following formula:

[0111] t s =max(t) p ,t v ,t θ )

[0112] That is, smoothing time t s By from t p t v t θ The maximum value among them is obtained.

[0113] S203-2. Calculate the weighting coefficients based on the smoothing time.

[0114] In this step, the weighting coefficients can be calculated based on the smoothing time, the smoothing start time, and the current time.

[0115] In one implementation, the weighting coefficient k s Please refer to the following formula:

[0116]

[0117] Where, k s Here, k represents the weighting coefficient, t is the current time, and t0 is the smoothing start time. s The value of is [0, 1].

[0118] S203-3. Calculate smooth navigation data based on current navigation data, backup navigation data, and weighting coefficients.

[0119] In this step, smooth navigation data can be calculated using weighting coefficients based on the current navigation data and backup navigation data at the switching time, within the set navigation data range for each target navigation information.

[0120] As can be understood, referring to the above description, for example, the navigation information for each target within the navigation data range can be position information, velocity information, and attitude information.

[0121] The current navigation data for each target within the set navigation data range can include the current navigation device's position p1, current navigation device's speed v1, and current navigation device's attitude θ1 at the switching moment.

[0122] Similarly, the backup navigation data for each target within the set navigation data range can include the position p2, speed v2, and attitude θ2 of the backup navigation device at the switching moment.

[0123] Among them, smoothed navigation data corresponds to the navigation information of each target. Smoothed navigation data includes the navigation information of each target after smoothing, such as the smoothed position, velocity, attitude, etc.

[0124] The calculation of smooth navigation data is shown in the following formula:

[0125] p=(1-k s p1+k s ×p2

[0126] v=(1-k s v1+k s ×v2

[0127] θ=(1-k s )θ1+k s ×θ2

[0128] Where p is the smoothed position, v is the smoothed velocity, and θ is the smoothed attitude.

[0129] S204. Switch the current navigation device to the backup navigation device and output smooth navigation data.

[0130] In this step, the navigation device is switched, and the current navigation device is switched to the backup navigation device. The output smooth navigation data is the data used by the flight control system after the navigation device switch. The smooth navigation data buffers the differences between navigation data from different navigation devices, ensuring a smooth switch of navigation data after the navigation device switch.

[0131] It is understandable that, over time, the output of smooth navigation data will gradually approach the navigation data output by the switched navigation device.

[0132] As can be seen from this embodiment, the method provided in this application provides that, because the smooth navigation data buffers the difference between navigation data between different navigation devices, after switching the current navigation device to the backup navigation device, the flight control system can perform navigation based on the smooth navigation data, so that the navigation result is relatively smooth and there will be no sudden changes in navigation data, thereby avoiding shaking of the flying car and achieving smooth switching of navigation devices.

[0133] Corresponding to the aforementioned application function implementation method embodiments, this application also provides a navigation device switching processing device, a flying car, and corresponding embodiments.

[0134] Figure 3 This is a schematic diagram of the navigation device switching processing apparatus shown in the embodiments of this application.

[0135] See Figure 3 A navigation device switching processing device 30 includes: a calculation module 310 and a switching module 320.

[0136] The calculation module 310 is used to determine smooth navigation data based on the navigation data of the current navigation device and the backup navigation device, according to a preset data smoothing algorithm, after the switching conditions are met.

[0137] The switching conditions may include: the historical fault duration of the backup navigation device's navigation data is less than a preset error threshold, and the historical normal duration of the backup navigation device's navigation data is greater than a preset normal threshold. The preset normal threshold is determined based on the historical fault duration of the backup navigation device's navigation data.

[0138] The switching module 320 is used to switch the current navigation device to the backup navigation device and output the smooth navigation data determined by the calculation module 310.

[0139] The navigation device switching function allows the current navigation device to be switched to a backup navigation device. The output smooth navigation data is the data used by the flight control system after the navigation device switch. The smooth navigation data buffers the differences between navigation data from different navigation devices, ensuring a smooth transition of navigation data after the navigation device switch.

[0140] As can be seen from this example, the device provided in this application, after meeting the switching conditions, determines smooth navigation data based on the navigation data of the current navigation device and the backup navigation device, according to a preset data smoothing algorithm. It then switches the current navigation device to the backup navigation device and outputs the smooth navigation data. In this way, because the smooth navigation data buffers the differences between the navigation data of different navigation devices, after switching the current navigation device to the backup navigation device, the flight control system can navigate according to the smooth navigation data, resulting in a smoother navigation result without sudden changes in navigation data. This avoids shaking in the flying car and achieves a smooth switching of navigation devices.

[0141] Figure 4 This is another schematic diagram of the navigation device switching processing device shown in this application;

[0142] See Figure 4 A navigation device switching processing device 30 includes: an acquisition module 330, a judgment module 340, a calculation module 310, and a switching module 320.

[0143] The functions of the calculation module 310 and the switching module 320 can be found in [reference]. Figure 3 The description in the text will not be repeated here.

[0144] The acquisition module 330 is used to acquire fault diagnosis results and historical fault data. Acquiring fault diagnosis results can refer to acquiring the fault diagnosis results of the current navigation device. Fault diagnosis results can include at least one of position diagnosis results, speed diagnosis results, and attitude diagnosis results. In other embodiments, fault diagnosis results may also include altitude diagnosis results, heading diagnosis results, diagnosis results of different types of sensors, different fault occurrence levels, and different fault durations. It is understood that historical fault data can be constructed by recording the fault diagnosis results. That is, historical fault data can be generated by recording the historical fault states of each navigation device. In one embodiment, historical fault data includes: the historical fault duration and historical normal duration of navigation data for each navigation device. The navigation data includes at least one of the following: position information, speed information, attitude information, altitude information, and heading information.

[0145] The judgment module 340 is used to determine whether the switching conditions are met based on the fault diagnosis results and historical fault data acquired by the acquisition module 330. In one embodiment, the switching conditions include: the historical fault duration of the backup navigation device's navigation data is less than a preset error threshold, and the historical normal duration of the backup navigation device's navigation data is greater than a preset normal threshold. In one embodiment, when the current navigation device is the default device, the switching conditions also include: the default device malfunctioning. In other embodiments, the switching conditions may also include: the diagnostic result of the target type sensor reaching a first preset threshold; the occurrence level of the target type fault reaching a second preset threshold; and the duration of the target type fault reaching a third preset threshold.

[0146] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated further here.

[0147] Figure 5 This is a schematic diagram of the structure of a flying car shown in an embodiment of this application.

[0148] See Figure 5 The flying car 500 includes a memory 510 and a processor 520.

[0149] The processor 520 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0150] Memory 510 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. ROM may store static data or instructions required by the processor 520 or other modules of the computer. Permanent storage devices may be read-write storage devices. Permanent storage devices may be non-volatile storage devices that retain stored instructions and data even when the computer is powered off. In some embodiments, permanent storage devices use mass storage devices (e.g., magnetic or optical disks, flash memory) as permanent storage devices. In other embodiments, permanent storage devices may be removable storage devices (e.g., floppy disks, optical drives). System memory may be a read-write storage device or a volatile read-write storage device, such as dynamic random access memory. System memory may store some or all of the instructions and data required by the processor during operation. Furthermore, memory 510 may include any combination of computer-readable storage media, including various types of semiconductor memory chips (e.g., DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, memory 510 may include a removable storage device that is readable and / or writable, such as a laser disc (CD), a read-only digital multifunction optical disc (e.g., DVD-ROM, dual-layer DVD-ROM), a read-only Blu-ray disc, an ultra-high-density optical disc, a flash memory card (e.g., SD card, mini SD card, Micro-SD card, etc.), a magnetic floppy disk, etc. Computer-readable storage media do not contain carrier waves or transient electronic signals transmitted wirelessly or via wired connections.

[0151] The memory 510 stores executable code, which, when processed by the processor 520, can cause the processor 520 to execute part or all of the methods described above.

[0152] Furthermore, the method according to this application can also be implemented as a computer program or computer program product, which includes computer program code instructions for performing some or all of the steps in the method described above.

[0153] Alternatively, this application may be implemented as a computer-readable storage medium (or a non-transitory machine-readable storage medium or a machine-readable storage medium) storing executable code (or computer program or computer instruction code) thereon, which, when executed by a processor of an electronic device (or server, etc.), causes the processor to perform part or all of the steps of the methods described above according to this application.

[0154] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or improvement of the technology in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

Claims

1. A method for switching navigation devices, characterized in that, include: After the switching conditions are met, smooth navigation data is determined based on the navigation data of the current navigation device and the backup navigation device, according to the preset data smoothing algorithm. Switch the current navigation device to the backup navigation device and output the smooth navigation data; The process of determining smooth navigation data based on navigation data from the current navigation device and the backup navigation device, according to a preset data smoothing algorithm, includes: Obtain the current navigation data of the current navigation device and the backup navigation data of the backup navigation device, and calculate the weighting coefficients; calculate smoothed navigation data based on the current navigation data, the backup navigation data, and the weighting coefficients; the smoothed navigation data includes position information, speed information, and attitude information; The process of obtaining the current navigation data of the current navigation device and the backup navigation data of the backup navigation device, and calculating the weighting coefficient, includes: Based on the current navigation data of the current navigation device and the backup navigation data of the backup navigation device, a smoothing time is calculated. This smoothing time is obtained by selecting the maximum value among the smoothing times of various target navigation information within a set navigation data range. The target navigation information smoothing time is calculated based on the target navigation information in the current navigation data of the current navigation device and the target navigation information in the backup navigation data of the backup navigation device at the switching moment, using a preset target navigation information given smoothing rate. The set navigation data range includes position information, velocity information, and attitude information. The target navigation information smoothing time is the position information smoothing time, velocity information smoothing time, or attitude information smoothing time. The weighting coefficients are calculated based on the smoothing time, wherein the weighting coefficients are calculated based on the smoothing start time and the current time.

2. The method according to claim 1, characterized in that, The switching conditions include: The historical fault duration of the navigation data of the backup navigation device is less than a preset error threshold, and the historical normal duration of the navigation data of the backup navigation device is greater than a preset normal threshold. The preset normal threshold is determined based on the historical fault duration of the backup navigation device's navigation data.

3. The method according to claim 2, characterized in that, If the current navigation device is the set default device, the switching conditions further include: The default device setting has malfunctioned.

4. The method according to claim 1, characterized in that, The switching conditions include: The diagnostic results of the target type sensor reach the first set threshold; The occurrence level of the target type fault has reached the second preset threshold; The duration of the target type fault reaches the third set threshold.

5. The method according to claim 1, characterized in that, Before determining the smoothed navigation data based on the navigation data of the current navigation device and the backup navigation device according to a preset data smoothing algorithm after the switching conditions are met, the process further includes: Obtain fault diagnosis results and historical fault data; Based on the fault diagnosis results and the historical fault data, determine whether the switching conditions are met.

6. The method according to claim 5, characterized in that: The historical fault data includes: the historical fault duration and the historical normal duration of navigation data for each navigation device; The navigation data includes at least one of the following: location information, speed information, attitude information, altitude information, and heading information.

7. A navigation device switching processing apparatus, characterized in that, include: The calculation module is used to determine smooth navigation data based on the navigation data of the current navigation device and the backup navigation device, according to a preset data smoothing algorithm, after the switching conditions are met. The calculation module obtains the current navigation data of the current navigation device and the backup navigation data of the backup navigation device, and calculates the weighting coefficients. Calculate smoothed navigation data based on the current navigation data, the backup navigation data, and the weighting coefficients; The smooth navigation data includes position information, speed information, and attitude information; The switching module is used to switch the current navigation device to the backup navigation device and output the smooth navigation data determined by the calculation module. The calculation module calculates the smoothing time based on the current navigation data of the current navigation device and the backup navigation data of the backup navigation device. The smoothing time is obtained by selecting the maximum value among the smoothing times of various target navigation information within a set navigation data range. The target navigation information smoothing time is calculated based on the target navigation information in the current navigation data of the current navigation device and the target navigation information in the backup navigation data of the backup navigation device at the switching time, and using a preset smoothing rate for the target navigation information. The defined navigation data range includes position information, velocity information, and attitude information; the target navigation information smoothing time is the position information smoothing time, velocity information smoothing time, or attitude information smoothing time. The weighting coefficients are calculated based on the smoothing time, wherein the weighting coefficients are calculated based on the smoothing start time and the current time.

8. A flying car, characterized in that, include: processor; as well as A memory having executable code stored thereon, which, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium having executable code stored thereon, which, when executed by a processor of an electronic device, causes the processor to perform the method as described in any one of claims 1-6.

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