Flight control method and device, electronic equipment and storage medium

Abstract

The invention discloses a flight control method and device, electronic equipment and a readable storage medium, and the method comprises the steps: determining an effective target sensor from a plurality of sensors of an aircraft, the plurality of sensors including a first type of sensors and a plurality of second type of sensors; if the ratio of the number of the target sensors to the total number of the plurality of sensors reaches a first ratio, determining a sensor data difference value between the target sensors; determining an effectiveness analysis result corresponding to the target sensor according to the category of each target sensor and the sensor data difference value; if the validity analysis result is valid, determining an output value according to the sensor data of the target sensor; and controlling the aircraft according to the output value. According to the method and the device, the arrangement that the first type of sensors with redundancy, high precision and high cost and the second type of sensors with low precision and low cost are combined is adopted, so that the cost of the aircraft sensor is reduced, and the manufacturing cost of the aircraft is reduced.

Description

Technical Field

[0001] The present application relates to the field of flight control technology, and more specifically, to a flight control method, device, electronic equipment and computer-readable storage medium. Background Art

[0002] In order to ensure the safety and reliability of flight, civil aviation often uses triple-redundant or quadruple-redundant high-precision homogeneous sensor architecture and its corresponding output value determination method to determine the output value to control the aircraft to ensure the accuracy of the output value. However, using this method, the cost of the sensor is high, resulting in high aircraft manufacturing costs.

[0003] Therefore, there is an urgent need for a flight control method that ensures the accuracy of output values ​​while reducing the manufacturing cost of the aircraft. Summary of the invention

[0004] The present application proposes a flight control method, device, electronic device and computer-readable storage medium to improve the above-mentioned defects.

[0005] In a first aspect, an embodiment of the present application provides a flight control method, the method comprising: determining a valid target sensor from a plurality of sensors of an aircraft, the plurality of sensors comprising a first category of sensors and a plurality of second category of sensors, the first category of sensors being high-precision sensors, and the second category of sensors being low-cost sensors; if a ratio of the number of target sensors to the total number of the plurality of sensors reaches a first ratio, determining a sensor data difference between each target sensor; determining a validity analysis result corresponding to the target sensor according to the category of each target sensor and the sensor data difference; the category of the target sensor is the first category or the second category; if the validity analysis result is valid, determining an output value according to the sensor data of the target sensor; and controlling the aircraft according to the output value.

[0006] In a second aspect, an embodiment of the present application further provides a flight control device, the device comprising:

[0007] A first determination module is used to determine a valid target sensor from a plurality of sensors of the aircraft, the plurality of sensors comprising a first category of sensors and a plurality of second category of sensors, the first category of sensors are high-precision sensors, and the second category of sensors are low-cost sensors;

[0008] a second determination module, configured to determine sensor data differences between the target sensors if a ratio of the number of target sensors to the total number of the plurality of sensors reaches a first ratio;

[0009] A third determination module is used to determine the effectiveness analysis result corresponding to each target sensor according to the category of each target sensor and the sensor data difference; the category of the target sensor is the first category or the second category;

[0010] The third determination module is further configured to determine an output value according to the sensor data of the target sensor if the validity analysis result is valid;

[0011] The control module is used to control the aircraft according to the output value.

[0012] In a third aspect, an embodiment of the present application further provides an electronic device, characterized in that the electronic device comprises: one or more processors; a memory; one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more programs are configured to execute the above method.

[0013] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, which stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the above method.

[0014] The present application provides a flight control method, device, electronic device and computer-readable storage medium. In the present application, an effective target sensor is determined from multiple sensors of the aircraft, including a first category of sensors and multiple second category of sensors, and the aircraft is controlled by the sensor data difference corresponding to the target sensor, thereby improving the efficiency of flight control. The first category of sensors are high-precision sensors, and the second category of sensors are low-cost sensors. By adopting a setting that combines redundant high-precision and high-cost sensors with low-precision and low-cost sensors, the cost of aircraft sensors is reduced, thereby reducing the manufacturing cost of the aircraft.

[0015] Other features and advantages of the embodiments of the present application will be described in the subsequent description, and partly become apparent from the description, or can be understood by practicing the embodiments of the present application. The purposes and other advantages of the embodiments of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1A flow chart of a flight control method proposed according to an embodiment of the present application is shown.

[0018] Figure 2 A flow chart of a flight control method proposed according to another embodiment of the present application is shown.

[0019] Figure 3 A flowchart of another flight control method according to an embodiment of the present application is shown.

[0020] Figure 4 A flow chart of a flight control method proposed according to another embodiment of the present application is shown.

[0021] Figure 5 A flowchart of another flight control method according to an embodiment of the present application is shown.

[0022] Figure 6 A schematic diagram of a flight control system in an embodiment of the present application is shown.

[0023] Figure 7 A structural block diagram of a flight control device proposed in one embodiment of the present application is shown.

[0024] Figure 8 A schematic diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0025] In order to make those skilled in the art better understand the present application scheme, the technical scheme in the present application embodiment will be clearly and completely described below in conjunction with the drawings in the present application embodiment. Obviously, the described embodiment is only a part of the present application embodiment, rather than all the embodiments. The components of the present application embodiment usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application for protection, but merely represents the selected embodiment of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0026] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] In order to ensure the safety and reliability of aircraft flight, civil aviation often uses triple-redundant or quadruple-redundant high-precision homogeneous sensor architecture and its corresponding output value determination method to determine the output value to control the aircraft to ensure the accuracy of the output value. However, this method has a high manufacturing cost for the aircraft.

[0028] At present, the existing flight control method is to use a heterogeneous sensor architecture that combines quadruple-redundant high-precision and high-cost sensors with low-precision and low-cost sensors and its corresponding output value determination method to determine the output value, and control the aircraft according to the output value.

[0029] However, the inventors have found in their research that the output value determination efficiency through the above method is low, and the flight control efficiency is low.

[0030] Therefore, in order to overcome the above-mentioned defects, the inventors have proposed a flight control method, device, electronic device and computer-readable storage medium, by determining an effective target sensor from multiple sensors of the aircraft including a first category of sensors and multiple second category of sensors, and controlling the aircraft through the sensor data difference corresponding to the target sensor, thereby improving the efficiency of flight control. The sensors of the first category are high-precision sensors, and the sensors of the second category are low-cost sensors. By adopting a setting that combines redundant high-precision and high-cost sensors of the first category with low-precision and low-cost sensors of the second category, the cost of aircraft sensors is reduced, thereby reducing the manufacturing cost of the aircraft.

[0031] See also Figure 1 , Figure 1 A flow chart of a flight control method proposed in one embodiment of the present application is shown, which is used for electronic equipment, and the method includes:

[0032] S101. Determine an effective target sensor from a plurality of sensors of an aircraft, where the plurality of sensors include sensors of a first category and a plurality of sensors of a second category, the sensors of the first category are high-precision sensors, and the sensors of the second category are low-cost sensors.

[0033] The aircraft may be any aircraft that consumes energy, such as electric or fuel, and may be a passenger aircraft or a non-passenger aircraft. The aircraft may also be a vertical take-off and landing aircraft.

[0034] Among them, multiple sensors collect the same signal or the same type of data at the same time, different types of signals or different signals can correspond to multiple sensors respectively, and the first category of sensors and the second category of sensors corresponding to the same signal or the same signal have different precisions. For example, when the signal is a speed signal, the multiple sensors may include a high-precision speed sensor and multiple low-cost speed sensors. For another example, when the signal is height, the multiple sensors may include a high-precision height sensor and multiple low-precision height sensors. The target sensor refers to the sensor available at the current moment. The first category of sensors and the second category of sensors are sensors of different precisions that collect the same or the same type of signal data. The first category of sensors are high-precision sensors, and the second category of sensors are low-cost sensors, which also means that the cost of the first category of sensors is higher than that of the second category of sensors.

[0035] In some embodiments, the method for determining a valid target sensor from multiple sensors of an aircraft adopts different determination methods according to different types of sensors, and invalid sensors can be determined from multiple sensors, and sensors other than the invalid sensors are valid target sensors.

[0036] For example, for linear displacement sensors (LVDTs) and rotary displacement sensors (RVDTs), the sum voltage of the LVDT / RVDT is close to a constant value during normal operation. When the actual sum voltage of the LVDT / RVDT is monitored to have a large deviation from the set voltage value, the sensor is an invalid sensor. For angle of attack sensors, when the angle of attack sensor voltage is monitored to be outside a certain range, the sensor is an invalid sensor.

[0037] In some implementations, when a sensor signal is received, a cyclic redundancy check (CRC) may be used to check or a sign state matrix (SSM) may be checked. When the check result is invalid, the sensor corresponding to the sensor signal is an invalid sensor.

[0038] Among them, the cyclic redundancy check code (CRC) is the most commonly used error checking code in the field of data communication, and its characteristic is that the length of the information field and the check field can be arbitrarily selected. The symbol state matrix bit (SSM) is used to indicate the characteristics of the data, such as south, north, positive, negative, etc. or the state of the data.

[0039] In some implementations, before determining a valid target sensor from a plurality of sensors of the aircraft, the method may further include: determining whether the sensor is failed according to the total number of errors of the sensor.

[0040] The total number of errors refers to the total number of sensor working errors, that is, the total number of times the sensor collects erroneous data.

[0041] In some embodiments, the total number of sensor errors can be obtained by accumulating the number of sensor errors, and the number of errors is recorded only when it is fully confirmed that a sensor among multiple sensors has an error. For example, when the sensor data differences between sensor C and sensor D1, sensor D2, and sensor D3 all exceed the threshold value s, only the sensor data of sensor C is fully involved in the calculation of each difference, so it is fully confirmed that the sensor with an error is sensor C, and it is recorded that it has an error once. Or, when two of the three sensor data differences between sensor D1, sensor D2, and sensor D3 exceed the threshold value s, then the multiple sensors corresponding to the two sensor data differences must have a common sensor, so it is fully confirmed that the sensor with an error is the sensor with the two common differences, and it is recorded that it has an error once; if only one sensor data difference exceeds the threshold value, and it cannot be fully confirmed which sensor has an error, then no error accumulation is performed.

[0042] In some implementations, a sensor error count threshold may be set, and if the total number of errors of a sensor among multiple sensors exceeds the sensor error count threshold, the sensor is an invalid sensor. The sensor error count threshold includes a first sensor error count threshold and a second sensor error count threshold, and the first sensor error count threshold and the second sensor error count threshold may be the same or different.

[0043] By setting whether a sensor is available based on the total number of sensor errors, the robustness of the flight control system is improved.

[0044] S102: If the ratio of the number of target sensors to the total number of the multiple sensors reaches a first ratio, determine the sensor data differences between the target sensors.

[0045] Among them, the first ratio is used to limit whether the subsequent determination of the sensor data difference and steps S102 to S104 can be executed. The setting of the first ratio needs to ensure that there are a sufficient number of target sensors involved in the determination of the output value. It can be 1 / 2 or 2 / 3, and the specific numerical value can be set according to needs.

[0046] In some embodiments, if the ratio of the number of target sensors to the total number of the multiple sensors reaches the first ratio, the subsequent steps are continued. If the ratio of the number of target sensors to the total number of the multiple sensors does not reach the first ratio, the validity analysis result at the current moment is directly determined to be invalid, and the output value at the moment when the previous validity analysis result is valid is obtained as the output value at the current moment.

[0047] S103, determining the effectiveness analysis result corresponding to the target sensor according to the category of each target sensor and the sensor data difference; the category of the target sensor is the first category or the second category.

[0048] The target sensor may include sensors of the first category and sensors of the second category, or may include only sensors of the second category. The sensor data difference refers to the difference between the sensor data of each sensor in the target sensor.

[0049] The validity analysis result refers to the analysis result of whether the sensor data collected by the target sensor at the current moment is valid, and the validity analysis result at least includes valid and invalid.

[0050] S104: If the validity analysis result is valid, determine the output value according to the sensor data of the target sensor.

[0051] The sensor data difference includes the sensor data difference between the first category sensor and each second category sensor in the target sensor, and the sensor data difference between each second category sensor in the target sensor. The sensor data difference may be the absolute value of the difference between the two sensor data, or the arithmetic square root of the square of the difference between the two sensor data.

[0052] If the validity analysis result is invalid, the output value at the time when the previous validity analysis result was valid is obtained as the output value at the current time.

[0053] S105: Control the aircraft according to the output value.

[0054] After obtaining the output value, the aircraft is controlled according to the output value.

[0055] In this embodiment, a valid target sensor is determined from a plurality of sensors of the aircraft including a first category of sensors and a plurality of second category of sensors, wherein the first category of sensors are high-precision sensors and the second category of sensors are low-cost sensors. When the ratio of the number of target sensors to the total number of the plurality of sensors reaches a first ratio, the sensor data differences between the target sensors are determined, and then the validity analysis results corresponding to the target sensors are determined according to the categories of the target sensors and the sensor data differences. When the validity analysis results are valid, the output values ​​are determined according to the sensor data of the target sensors, and the efficiency of determining the output values ​​is improved while ensuring the accuracy of the output values. The aircraft is then controlled according to the output values, and the efficiency of flight control is improved. By adopting a configuration combining redundant, high-precision, and high-cost sensors of the first category with low-precision and low-cost sensors of the second category, the cost of aircraft sensors is reduced, thereby reducing the manufacturing cost of the aircraft.

[0056] See also Figure 2 , Figure 2 A flow chart of a flight control method proposed in another embodiment of the present application is shown, which is used in an electronic device. The method includes:

[0057] S201. Determine an effective target sensor from a plurality of sensors of an aircraft, where the plurality of sensors include sensors of a first category and a plurality of sensors of a second category, the sensors of the first category are high-precision sensors, and the sensors of the second category are low-cost sensors.

[0058] S202: If the ratio of the number of target sensors to the total number of the multiple sensors reaches a first ratio, determine the sensor data differences between the target sensors.

[0059] The description of S201 to S202 refers to the description of S101 to S102 above, which will not be repeated here.

[0060] S203: If the target sensor includes sensors of the first category and sensors of the second category, obtain sensor data differences between the sensors of the first category and each sensor of the second category in the target sensor from the sensor data differences as first sensor data differences.

[0061] If both the sensors of the first category and the sensors of the second category are available, the sensor data difference between the sensor of the first category and each sensor of the second category in the target sensors is obtained from the sensor data difference between the target sensors as the first sensor data difference.

[0062] In some implementations, if the data differences of each first sensor are not less than the first threshold, it is determined that an error occurs in the first category of sensors; the number of errors of the first category of sensors is accumulated to obtain the total number of errors of the first category of sensors.

[0063] If each first sensor data difference exceeds the first threshold, all the first sensor data participate in the calculation of the first sensor data difference. At this time, it is determined that the first category of sensors has collected erroneous data at the current moment. The first category of sensors has an error once, and the number of errors of the first category of sensors is accumulated to obtain the total number of errors of the first category of sensors.

[0064] After obtaining the total number of errors of the first category of sensors, the total number of errors can be compared with the first sensor error number threshold. If there is a first category sensor whose total number of errors exceeds the first sensor error number threshold, then the first category sensor is an invalid sensor.

[0065] S204 . Obtain sensor data differences between sensors of the second category in the target sensor from the sensor data differences as second sensor data differences.

[0066] From the sensor data differences between the target sensors, sensor data differences between the sensors of the second category are acquired as second sensor data differences.

[0067] S205 , determining a validity analysis result according to the first sensor data difference and the second sensor data difference; if the validity analysis result is valid, determining an output value according to the sensor data of the target sensor.

[0068] After obtaining the first sensor data difference and the second sensor data difference, determine whether the sensor data of the target sensor at the current moment is valid based on the first sensor data difference and the second sensor data difference. If valid, determine the output value based on the sensor data of the target sensor; if invalid, obtain the output value at the moment when the last validity analysis result was valid as the output value at the current moment.

[0069] As an implementation method, Figure 3 As shown, if the ratio of the number of first sensor data difference values ​​less than the first threshold to the total number of first sensor data difference values ​​reaches a second ratio, the validity analysis result is determined to be valid, and the first category of sensor data is determined as the output value.

[0070] The first threshold may be set according to the type of signal data collected by the sensor, the category of the sensor, or the number of sensors.

[0071] The setting of the second ratio needs to ensure that a sufficient number of sensor data of the target sensor corresponding to the first sensor data difference less than the first threshold participate in the determination of the output value. The second ratio may be the same as or different from the first ratio.

[0072] Taking the example that the target sensor includes 1 sensor of the first category and 3 sensors of the second category, the total number of first sensor data differences is 3. If the second ratio is 1 / 2, and the number of first sensor data differences less than the first threshold is greater than or equal to 1.5, that is, the number of first sensor data differences less than the first threshold must be 2 or 3, the validity analysis result is determined to be valid, and the sensor data of the first category is determined as the output value.

[0073] As another embodiment, Figure 3 As shown, if the ratio of the number of first sensor data difference values ​​less than the first threshold to the total number of first sensor data difference values ​​does not reach the second ratio, and the ratio of the number of second sensor data difference values ​​less than the second threshold to the total number of second sensor data difference values ​​reaches the third ratio, the validity analysis result is determined to be valid, and the output value is determined based on the sensor data of the second category of sensors corresponding to each second sensor data difference value less than the second threshold.

[0074] The second threshold may be set according to the type of signal data collected by the sensor, or according to the category of the sensor, or according to the number of sensors, and the second threshold may be different from the first threshold.

[0075] The setting of the third ratio needs to ensure that a sufficient number of sensor data of the target sensor corresponding to the second sensor data difference less than the second threshold participate in the determination of the output value. The third ratio may be the same as or different from the first ratio and the second ratio.

[0076] Taking the example that the target sensor includes 1 sensor of the first category and 3 sensors of the second category, the total number of first sensor data differences is 3, and the total number of second sensor data differences is 3. If the second ratio and the third ratio are both 1 / 2, the number of first sensor data differences less than the first threshold is less than 1.5 and the number of second sensor data differences less than the second threshold is greater than or equal to 1.5, that is, when the number of first sensor data differences less than the first threshold is 1 or 0, and the number of second sensor data differences less than the second threshold is 2 or 3, the validity analysis result is determined to be valid, and the output value is determined according to the sensor data of the second category sensor corresponding to each second sensor data difference less than the second threshold.

[0077] In one embodiment, determining the output value based on the sensor data of the second category of sensors corresponding to each second sensor data difference value less than the second threshold value may include: obtaining a statistic of the sensor data of the second category of sensors corresponding to each second sensor data difference value less than the second threshold value as the output value. The statistic may be an average value, a median, a mode, etc.

[0078] In one embodiment, if the number of sensors of the second category in the target sensor is 3, and the ratio of the number of first sensor data differences less than the first threshold to the total number of first sensor data differences does not reach the second ratio, and the number of second sensor data differences less than the second threshold is 2, the output value can be obtained by obtaining the common sensor data of the second category of sensors corresponding to the two second sensor data differences as the output value.

[0079] Taking the target sensor including one first category sensor and three second category sensors B1, B2 and B3 as an example, the second sensor differences are Δd1 (second sensor data difference corresponding to B1 and B2), Δd2 (second sensor data difference corresponding to B1 and B3) and Δd3 (second sensor data difference corresponding to B2 and B3), if the ratio of the number of first sensor data differences smaller than the first threshold to the total number of first sensor data differences does not reach the second ratio, and the number of second sensor data differences smaller than the second threshold is 2, if the two second sensor data differences are Δd1 and Δd2, then the common second category sensor among the corresponding second category sensors is B1, and the sensor data of B1 is obtained as the output value.

[0080] As another embodiment, Figure 3 As shown, if the ratio of the number of first sensor data difference values ​​less than the first threshold to the total number of first sensor data difference values ​​does not reach the second ratio, and the ratio of the number of second sensor data difference values ​​less than the second threshold to the total number of second sensor data difference values ​​does not reach the third ratio, the validity analysis result is determined to be invalid.

[0081] If the validity analysis result is invalid, the output value at the time when the previous validity analysis result was valid is obtained as the output value at the current time.

[0082] Taking the example that the target sensor includes 1 sensor of the first category and 3 sensors of the second category, the total number of first sensor data differences is 3, and the total number of second sensor data differences is 3. If the second ratio is 1 / 2 and the third ratio is 1 / 3, the number of first sensor data differences less than the first threshold is less than 1.5 and the number of second sensor data differences less than the second threshold is less than 1, that is, when the number of first sensor data differences less than the first threshold is 1 or 0, and the number of second sensor data differences less than the second threshold is 0, it is determined that the validity analysis result is invalid, and the output value at the moment when the previous validity analysis result is valid is obtained as the output value at the current moment.

[0083] S206: Control the aircraft according to the output value.

[0084] The description of S206 refers to the description of S105 above and will not be repeated here.

[0085] In this embodiment, for a target sensor including a first category of sensors and a second category of sensors, a validity analysis result is determined by obtaining a first sensor data difference and a second sensor data difference. If the validity analysis result is valid, an output value is determined based on the sensor data of the target sensor, thereby improving the efficiency of determining the output value while ensuring the accuracy of the output value. The aircraft is then controlled based on the output value, thereby improving the efficiency of flight control. Based on the comparison result of the first sensor data difference with the first threshold, it is determined whether each first category sensor is a valid sensor, thereby improving the robustness of the flight control system.

[0086] See also Figure 4 , Figure 4 A flow chart of a flight control method proposed in another embodiment of the present application is shown, which is used in an electronic device. The method includes:

[0087] S301. Determine an effective target sensor from a plurality of sensors of an aircraft, where the plurality of sensors include sensors of a first category and a plurality of sensors of a second category, the sensors of the first category are high-precision sensors, and the sensors of the second category are low-cost sensors.

[0088] S302: If the ratio of the number of target sensors to the total number of the multiple sensors reaches a first ratio, determine the sensor data differences between the target sensors.

[0089] The description of S301 to S302 refers to the description of S101 to S102 above, which will not be repeated here.

[0090] S303: If the target sensor includes only sensors of the second category, obtain a sensor data difference between each sensor of the second category in the target sensor as a third sensor data difference.

[0091] If only sensors of the second category are available, a sensor data difference between each sensor of the second category is obtained as a third sensor data difference.

[0092] In some embodiments, the sensors of the second category in which errors occur are determined from the target sensors based on the difference values ​​of the third sensor data that are not less than the third threshold value; the number of errors of the sensors of the second category in which errors occur is accumulated to obtain the total number of errors of the sensors of the second category in which errors occur.

[0093] Among them, the third threshold can be set according to the type of signal data collected by the sensor, the category of the sensor, or the number of sensors. The third threshold can be different from the first threshold and the second threshold, or the same as the second threshold.

[0094] If all second sensor data differences are not less than the third threshold, the sensor data of all second category sensors participate in the calculation of the third sensor data difference. At this time, it is determined that all second category sensors have collected erroneous data at the current moment. The second category sensor has an error once, and the number of errors of the second category sensors is accumulated to obtain the total number of errors of the second category sensors.

[0095] If not all second sensor data differences are not less than the third threshold, then the second category sensors whose sensor data are obtained have participated in at least two third sensor data difference calculations. At this time, it is determined that these second category sensors have collected erroneous data at the current moment. These second category sensors have all experienced an error once, and the number of errors of each second category sensor is accumulated to obtain the total number of errors of each second category sensor.

[0096] After obtaining the total number of errors of each second category sensor, the total number of errors can be compared with the second sensor error number threshold. If there is a second category sensor whose total number of errors exceeds the second sensor error number threshold, then the second category sensor is an invalid sensor.

[0097] S304: Determine a validity analysis result according to the third sensor data difference; if the validity analysis result is valid, determine an output value according to the sensor data of the target sensor.

[0098] After obtaining the third sensor data difference, determine whether the sensor data of the target sensor at the current moment is valid based on the third sensor data difference. If valid, determine the output value based on the sensor data of the target sensor; if invalid, obtain the output value at the moment when the last validity analysis result was valid as the output value at the current moment.

[0099] As an implementation method, Figure 5 As shown, if the ratio of the number of third sensor data difference values ​​less than the third threshold to the total number of third sensor data difference values ​​reaches a fourth ratio, the validity analysis result is determined to be valid, and the output value is determined based on the sensor data of the second category of sensors corresponding to each third sensor data difference value less than the third threshold.

[0100] Among them, the setting of the fourth ratio needs to ensure that there are sufficient sensor data of the target sensor corresponding to the third sensor data difference less than the third threshold value to participate in the determination of the output value. The fourth ratio can be the same as the first ratio, the second ratio, and the third ratio, or different.

[0101] Taking the example that the target sensor includes 3 sensors of the second category, the total number of third sensor data differences is 3. If the fourth ratio is 1 / 3, and the number of third sensor data differences less than the third threshold is greater than or equal to 1, that is, the number of third sensor data differences less than the third threshold must be 1 or 2 or 3, the validity analysis result is determined to be valid, and the output value is determined based on the sensor data of the second category sensors corresponding to each third sensor data difference less than the third threshold.

[0102] In one embodiment, determining the output value according to the sensor data of the second category of sensors corresponding to each third sensor data difference value less than the third threshold value may include: obtaining the statistics of the sensor data of the second category of sensors corresponding to each third sensor data difference value less than the third threshold value as the output value. The statistics may be an average value, a median, a mode, etc.

[0103] In one embodiment, if the number of sensors of the second category in the target sensor is 3, and the number of second sensor data differences that are less than the third threshold is 2, the output value can be obtained by obtaining the common sensor data of the second category of sensors in the second category corresponding to the two third sensor data differences.

[0104] As another embodiment, Figure 5 As shown, if the ratio of the number of third sensor data difference values ​​less than the third threshold to the total number of third sensor data difference values ​​does not reach a fourth ratio, the validity analysis result is determined to be invalid.

[0105] If the validity analysis result is invalid, the output value at the time when the previous validity analysis result was valid is obtained as the output value at the current time.

[0106] Taking the case where the target sensor includes 3 sensors of the second category, the total number of third sensor data differences is 3. If the fourth ratio is 1 / 4, the number of third sensor data differences less than the third threshold is less than 0.75, that is, when the number of second sensor data differences less than the second threshold is 0, the validity analysis result is determined to be invalid, and the output value at the time when the last validity analysis result is valid is obtained as the output value at the current time.

[0107] S305: Control the aircraft according to the output value.

[0108] The description of S305 refers to the description of S105 above and will not be repeated here.

[0109] In this embodiment, for target sensors that only include sensors of the second category, the validity analysis result is determined by obtaining the third sensor data difference. If the validity analysis result is valid, the output value is determined according to the sensor data of the target sensor, thereby improving the efficiency of determining the output value while ensuring the accuracy of the output value. The aircraft is then controlled according to the output value, thereby improving the efficiency of flight control. In addition, based on the comparison result of the third sensor data difference with the third threshold, it is determined whether each second category sensor is a valid sensor, thereby improving the robustness of the flight control system.

[0110] like Figure 6 As shown, Figure 6 A schematic diagram of a flight control system is shown, the flight control system at least includes a plurality of sensors 410, a controller 420, a resident software 430 and an execution device 440, the plurality of sensors include a first category of sensors (A) and a second category of sensors (B1, B2 and B3), the plurality of sensors 410 are used to collect data and collect data simultaneously, the controller 420 is used to run the resident software, the resident software 430 includes a monitoring module 431 and a voting module 432, the monitoring module 431 is used to obtain the target sensor and determine the sensor data of each sensor in the target sensor, the sensor identifier _Valid indicates the validity of the sensor corresponding to the identifier, for example, if B1 is the target sensor, then B1_Valid=1, if B2 is an invalid sensor, then B2_Valid=0; the sensor identifier _Value indicates the sensor data of the sensor corresponding to the identifier, for example, if the sensor data of A is a, then A_Value=a. The voting module 432 is used to determine the valid analysis result Valid and the output value Value according to the information obtained from the monitoring module 431, and the execution device 440 is used to control the aircraft according to the output value.

[0111] See attached Figure 7 , Figure 7 The structure block diagram of a flight control device proposed in one embodiment of the present application is shown. For electronic equipment, the device 500 includes:

[0112] A first determination module 501 is used to determine a valid target sensor from a plurality of sensors of the aircraft, wherein the plurality of sensors include sensors of a first category and a plurality of sensors of a second category, wherein the sensors of the first category are high-precision sensors, and the sensors of the second category are low-cost sensors;

[0113] A second determination module 502 is configured to determine sensor data differences between target sensors if a ratio of the number of target sensors to the total number of the plurality of sensors reaches a first ratio;

[0114] The third determination module 503 is used to determine the validity analysis result corresponding to the target sensor according to the category of each target sensor and the sensor data difference; the category of the target sensor is the first category or the second category;

[0115] The third determination module 503 is further configured to determine an output value according to the sensor data of the target sensor if the validity analysis result is valid;

[0116] The control module 504 is used to control the aircraft according to the output value.

[0117] Optionally, the third determination module 503 is further used to obtain, from the sensor data differences, a sensor data difference between the sensor of the first category and each sensor of the second category in the target sensor as a first sensor data difference if the target sensor includes sensors of the first category and sensors of the second category; obtain, from the sensor data differences, a sensor data difference between each sensor of the second category in the target sensor as a second sensor data difference; and determine the validity analysis result based on the first sensor data difference and the second sensor data difference.

[0118] Optionally, the third determination module 503 is further used to determine that the validity analysis result is valid and determine the first category of sensor data as the output value if the ratio of the number of first sensor data difference values ​​less than the first threshold to the total number of first sensor data difference values ​​reaches a second ratio; if the ratio of the number of first sensor data difference values ​​less than the first threshold to the total number of first sensor data difference values ​​does not reach the second ratio, and the ratio of the number of second sensor data difference values ​​less than the second threshold to the total number of second sensor data difference values ​​reaches a third ratio, determine that the validity analysis result is valid, and determine the output value according to the sensor data of the second category of sensors corresponding to each second sensor data difference value less than the second threshold; if the ratio of the number of first sensor data difference values ​​less than the first threshold to the total number of first sensor data difference values ​​does not reach the second ratio, and the ratio of the number of second sensor data difference values ​​less than the second threshold to the total number of second sensor data difference values ​​does not reach the third ratio, determine that the validity analysis result is invalid.

[0119] Optionally, the third determination module 503 is further used to determine that an error occurs in the first category of sensors if the difference values ​​of the first sensor data are not less than the first threshold; and accumulate the number of errors of the first category of sensors to obtain the total number of errors of the first category of sensors.

[0120] Optionally, the third determination module 503 is further used to obtain a sensor data difference between each sensor of the second category in the target sensor as a third sensor data difference if the target sensor only includes sensors of the second category; and determine the validity analysis result according to the third sensor data difference.

[0121] Optionally, the third determination module 503 is further used to determine that the validity analysis result is valid if the ratio of the number of third sensor data difference values ​​less than the third threshold to the total number of third sensor data difference values ​​reaches a fourth ratio, and to determine the output value based on the sensor data of the second category of sensors corresponding to each third sensor data difference value less than the third threshold; if the ratio of the number of third sensor data difference values ​​less than the third threshold to the total number of third sensor data differences does not reach the fourth ratio, determine that the validity analysis result is invalid.

[0122] Optionally, the third determination module 503 is further used to determine the second category of sensors that have errors from the target sensors based on the difference in data of each third sensor that is not less than a third threshold; accumulate the number of errors of the second category of sensors that have errors to obtain the total number of errors of the second category of sensors that have errors.

[0123] Optionally, the first determination module 501 is further configured to determine whether the sensor is invalid according to the total number of errors of the sensor.

[0124] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here.

[0125] In addition, each function in each embodiment of the present application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The above integrated modules can be implemented in the form of hardware or software function modules.

[0126] Please refer to Figure 8 , which shows a structural block diagram of an electronic device provided according to an embodiment of the present application. The electronic device 600 can be an electronic device capable of running applications, such as a smart phone, a tablet computer, an e-book, and a vehicle. The electronic device 600 in the present application may include one or more of the following components: a processor 610, a memory 620, and one or more applications. One or more applications may be stored in the memory 620 and configured to be executed by one or more processors 610, and one or more programs are configured to execute the method described in the aforementioned method embodiment.

[0127] The processor 610 may include one or more processing cores. The processor 610 uses various interfaces and lines to connect the various parts of the entire electronic device 600, and executes various functions and processes data of the electronic device 600 by running or executing instructions, programs, code sets or instruction sets stored in the memory 620, and calling data stored in the memory 620. Optionally, the processor 610 can be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), and programmable logic array (PLA). The processor 610 can integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 610, but may be implemented separately through a communication chip.

[0128] The memory 620 may include a random access memory (RAM) or a read-only memory (ROM). The memory 620 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 620 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the following method embodiments, etc. The data storage area may also store data (such as a phone book, audio and video data, chat record data) created by the electronic device 600 during use.

[0129] As another aspect, the present application further provides a computer-readable storage medium, in which program code is stored. The program code can be called by a processor to execute the method described in the above method embodiment.

[0130] The computer readable storage medium can be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a cluster of ROMs. Optionally, the computer readable storage medium includes a non-transitory computer-readable storage medium. The computer readable storage medium has storage space for program codes that execute any of the method steps in the above method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0131] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A flight control method, characterized in that: The method comprises: Determining a valid target sensor from a plurality of sensors of the aircraft, the plurality of sensors comprising a first category of sensors and a plurality of second category of sensors, the first category of sensors being high-precision sensors, and the second category of sensors being low-cost sensors; If a ratio of the number of the target sensors to the total number of the plurality of sensors reaches a first ratio, determining a sensor data difference between each of the target sensors; Determine, according to the category of each target sensor and the sensor data difference, the validity analysis result corresponding to the target sensor; the category of the target sensor is the first category or the second category; If the validity analysis result is valid, determining an output value according to the sensor data of the target sensor; The aircraft is controlled according to the output value.

2. The method according to claim 1, characterized in that The determining, according to the category of the target sensor and the sensor data difference, a validity analysis result corresponding to the target sensor includes: If the target sensor includes sensors of the first category and sensors of the second category, obtaining, from the sensor data differences, sensor data differences between the sensors of the first category and each sensor of the second category in the target sensor as first sensor data differences; From the sensor data differences, obtaining sensor data differences between sensors of the second category in the target sensor as second sensor data differences; The validity analysis result is determined according to the first sensor data difference and the second sensor data difference.

3. The method according to claim 2, characterized in that The determining the validity analysis result according to the first sensor data difference and the second sensor data difference, and if the validity analysis result is valid, determining an output value according to the sensor data of the target sensor, comprises: If a ratio of the number of the first sensor data difference values ​​that are less than a first threshold to the total number of the first sensor data difference values ​​reaches a second ratio, determining that the validity analysis result is valid, and determining the first category of sensor data as an output value; If the ratio of the number of the first sensor data difference values ​​less than the first threshold to the total number of the first sensor data difference values ​​does not reach a second ratio, and the ratio of the number of the second sensor data difference values ​​less than the second threshold to the total number of the second sensor data difference values ​​reaches a third ratio, determining that the validity analysis result is valid, and determining the output value according to the sensor data of the second category of sensors corresponding to each of the second sensor data difference values ​​less than the second threshold; If the ratio of the number of the first sensor data difference values ​​less than the first threshold to the total number of the first sensor data difference values ​​does not reach a second ratio, and the ratio of the number of the second sensor data difference values ​​less than the second threshold to the total number of the second sensor data difference values ​​does not reach a third ratio, the validity analysis result is determined to be invalid.

4. The method according to claim 2, characterized in that: The step of acquiring, from the sensor data differences, sensor data differences between the first category of sensors and each second category of sensors in the target sensor as first sensor data differences comprises: If the data differences of each of the first sensors are not less than a first threshold, it is determined that an error occurs in the sensor of the first category; The number of errors of the sensors of the first category is accumulated to obtain the total number of errors of the sensors of the first category.

5. The method according to claim 1, characterized in that The determining, according to the category of the target sensor and the sensor data difference, the effectiveness analysis result corresponding to each of the target sensors includes: If the target sensor includes only sensors of the second category, obtaining a sensor data difference between each sensor of the second category in the target sensor as a third sensor data difference; The validity analysis result is determined according to the third sensor data difference.

6. The method according to claim 5, characterized in that The determining the validity analysis result according to the third sensor data difference, and if the validity analysis result is valid, determining the output value according to the sensor data of the target sensor, comprises: If a ratio of the number of the third sensor data difference values ​​that are smaller than a third threshold to the total number of the third sensor data difference values ​​reaches a fourth ratio, determining that the validity analysis result is valid, and determining the output value according to the sensor data of the second category of sensors corresponding to each of the third sensor data difference values ​​that are smaller than the third threshold; If the ratio of the number of the third sensor data difference values ​​that are smaller than the third threshold to the total number of the third sensor data difference values ​​does not reach a fourth ratio, the validity analysis result is determined to be invalid.

7. The method according to claim 5, characterized in that The step of obtaining a sensor data difference between each sensor of the second category in the target sensor as a third sensor data difference includes: Determine a sensor of the second category in which an error occurs from the target sensors according to each of the third sensor data differences that is not less than a third threshold; The number of errors of the second category of sensors that have errors is accumulated to obtain the total number of errors of the second category of sensors that have errors.

8. The method according to claim 1, characterized in that Before determining a valid target sensor from a plurality of sensors of the aircraft, the method further includes: Whether the sensor fails is determined according to the total number of errors of the sensor.

9. A flight control device, characterized in that: The device comprises: A first determination module, configured to determine a valid target sensor from a plurality of sensors of the aircraft, wherein the plurality of sensors include sensors of a first category and a plurality of sensors of a second category, the sensors of the first category are high-precision sensors, and the sensors of the second category are low-cost sensors; a second determination module, configured to determine a sensor data difference between each of the target sensors if a ratio of the number of the target sensors to the total number of the plurality of sensors reaches a first ratio; A third determination module is used to determine the validity analysis result corresponding to each of the target sensors according to the category of each of the target sensors and the sensor data difference; the category of the target sensor is the first category or the second category; A third determination module is further configured to determine an output value according to the sensor data of the target sensor if the validity analysis result is valid; A control module is used to control the aircraft according to the output value.

10. An electronic device, characterized in that: include: one or more processors; Memory; One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the one or more processors, and the one or more applications are configured to execute the method according to any one of claims 1-8.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a program code executable by a processor, and when the program code is executed by the processor, the processor executes the method according to any one of claims 1 to 8.

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