DDS communication architecture oriented to eVTOL platform

Abstract

The invention discloses a DDS communication architecture oriented to an eVTOL platform. The DDS communication architecture comprises an airborne end and a ground end, wherein the airborne end comprises a sensor module, a data source module, a partition processing module, a data backup module and an airborne end DDS module; the ground end comprises a display control module and a ground end DDS module. An airborne end and a ground end of an eVTOL platform are linked through a DDS communication architecture composed of an airborne end DDS module and a ground end DDS module, and the airborne end DDS module and the ground end DDS module are divided according to domains and themes of data and provide data collection and distribution services according to QoS (Quality of Service). According to the method, high-real-time and high-reliability transmission of information of various avionics systems is guaranteed, a transmission strategy can be configured according to needs, meanwhile, good expansibility of the system is kept, data transmission of various different interface devices is met, a perfect selectable data backup function is provided, and full-life-cycle management of eVTOL avionics system data is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of avionics system communication architecture design and relates to a DDS communication architecture for an eVTOL platform. Background Art

[0002] In recent years, with technological breakthroughs in many fields such as electric propulsion, autonomous driving, 5G communications, fly-by-wire flight control, and composite material structures, the application of eVOTL (electric vertical take-off and landing aircraft) has flourished.

[0003] The take-off, cruising, flight control, navigation, communication and other functions of eVTOL all require avionics systems. Avionics refers to the sum of all electronic systems on an aircraft, and has gradually established its unique core position in the development of aircraft. The development of avionics is mainly aimed at the commercial aviation field, and has gone through the development process from distributed avionics systems, joint avionics systems, integrated modular avionics systems, to distributed integrated modular avionics systems.

[0004] The existing avionics system architecture is designed for large manned aircraft applications, and the communication methods such as the AFDX in-flight switching network are not suitable for eVTOL applications. For eVTOL, it is of great significance to establish a convenient and scalable avionics system architecture. Modern eVTOL avionics systems serve specific tasks. In order to ensure the reliability of communication and data during the mission, and to shield the mechanism for transmitting information between applications and systems as much as possible, so that software developers can focus on application design, it is urgent to develop a new communication architecture to promote the better application of eVTOL in the low-altitude economy. Summary of the invention

[0005] In response to the needs of eVTOL communication, the present invention proposes a DDS communication architecture for eVTOL platforms. According to the scenario requirements, the architecture can expand the software and hardware based on DDS, meeting the current basic usage needs while also supporting future eVTOL intelligent digital communications.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A DDS communication architecture for an eVTOL platform includes an airborne end and a ground end. The airborne end includes: a sensor module, a data source module, a partition processing module, a data backup module, and an airborne end DDS module; the ground end includes a display control module and a ground end DDS module. A DDS communication system composed of an airborne end DDS module and a ground end DDS module links the airborne end and the ground end of the eVTOL platform.

[0008] The airborne end carries a sensor module that carries the task, and the collected data is sent to the partition processing system through the DDS communication system; the data source module receives external data and control signals, transmits them to the partition processing system through the airborne end DDS module, and sends the airborne end status information to the ground end; the partition processing system performs operating system partition processing on each task, obtains the task processing results and generates corresponding control signals; the airborne and ground end DDS modules are divided according to the domain and subject of the data, and provide data collection and distribution services based on QoS; the data backup module monitors the airborne end DDS module, and obtains the data transmitted in the airborne end DDS module through configuration information for configurable and selectable backup.

[0009] The sensor module consists of four parts: binocular vision, ADS-B, millimeter-wave radar, and air collision avoidance. Binocular vision provides image and video data streams; millimeter-wave radar provides echo signals for distance measurement and target detection; ADS-B sends eVTOL position information to the outside world and receives signals from other aircraft or ground stations; air collision avoidance provides flight information of other aircraft within a certain radius around the aircraft to guide the aircraft to maneuver. The sensor module is bidirectionally connected to the airborne DDS module, sending sensor data for signal processing by the sensor partition processing module, and receiving control signals sent back by the sensor partition processing module.

[0010] The data source module includes two parts: external data source and virtual data source. The external data source includes data and control signals transmitted by wireless communication. The virtual data source is used to generate flight data (including altitude, speed, position and other information) and test the transmission delay, transmission rate, bit error rate and other performance parameters of the internal communication system on the airborne end.

[0011] The partition processing module includes four parts: sensor data partition processing, data source data partition processing, display and control data partition processing, and data backup partition processing, and is bidirectionally connected to the airborne DDS module. The sensor data partition processing completes signal processing for four types of sensor data: binocular vision, millimeter wave radar, ADS-B, and air collision avoidance, and sends the processing results to the ground-side DDS module through the airborne DDS module, and then to the ground-side display control module; the data source data partition processing completes the corresponding test tasks and calculates the test results for the virtual data source data. For the external data source, it parses the sent data and control signals to provide data support for the airborne tasks; the display and control data partition processing transmits the eVTOL status and mission information to the ground-side DDS module through the airborne DDS module, and then to the ground-side display control module to parse the display control module data and control signals; the data backup partition processing configures the data backup module according to the task requirements, and configures the DDS communication domain and topic of the data backup.

[0012] The display control module provides a system monitoring interface, receives eVTOL status information transmitted by the airborne DDS module, and displays it on the ground. Ground personnel can send control signals to the airborne end through the display control module, and the airborne end display control data is partitioned and processed to generate airborne control signals and execute tasks.

[0013] The airborne DDS module and the ground-side DDS module use a data-centric publish-subscribe model to dynamically define communication links and individually configure the quality of service of the communication links.

[0014] In the system communication architecture, data from external data sources are connected to the system through DDS, network port or serial port. DDS data is compatible with the system and can be directly connected to the system LAN without processing. The network port and serial port programs need to convert the data format through a protocol conversion program. After being converted into DDS data, it is connected to the DDS communication architecture.

[0015] The domain is the basic partition of the DDS communication architecture. Each data publisher and subscriber belongs to a domain and can only access the data in this domain, which is isolated from publishers and subscribers in other domains. In this architecture, it is divided into three domains: sensor DDS domain, data source DDS domain, and display control DDS domain. Among them, the sensor DDS domain and data source DDS domain are provided with data collection and distribution services by the airborne DDS module, and the display control DDS domain is jointly provided by the airborne and ground terminals, and wireless communication is used for data transmission between the two. There are multiple types of data in the domain, and each type of data is distinguished by different topics. The avionics upper-layer application transfers the given topic data to DDS through the interface provided by the data publisher. The publisher obtains the published data and sends the data to the relevant subscribers in the domain. The processing unit obtains the data from the subscriber and processes it accordingly.

[0016] During data transmission, the system architecture finely controls real-time QoS. Each publisher / subscriber can establish an independent QoS protocol. The publisher provides a QoS policy, the subscriber requests a set of QoS policies, and the DDS middleware determines whether the QoS of both parties or even multiple parties matches. The general principle of QoS compatibility is that the data restrictions on the subscriber side are looser than those on the publisher side. In terms of reliability QoS, the publisher is set to RELIABLE or BEST_EFFORT, and sends data in a high reliability or best-effort manner. The subscriber needs to be set to BEST_EFFORT to meet more relaxed conditions; for deadline QoS, the subscriber designs a deadline cycle that is less than the deadline cycle set by the publisher; for persistence QoS, the publisher selects a transient local strategy to retain samples for dynamically added external nodes; for activity QoS, the strategy is applied to the entire topic, and the member is set to automatic detection. After no traffic is generated in the specified time period, a heartbeat signal is automatically sent to confirm the connection relationship; for historical QoS, it is specified that the data publisher and subscriber need to send or the application reads the data. Partition QoS specifies the creation of partitions in a domain, which is used to match the data reader and writer in the partition for dynamically added nodes.

[0017] The data backup module is dynamically added through DDS according to the configuration information generated by the data backup partition processing module to realize real-time selective backup of information in the system. The process of adding the data backup module to the subject data backup is as follows: First, create the entity corresponding to the data backup module in the domain; after the creation is completed, the data backup module publishes a periodic notification in the domain to notify that an entity has been added to this domain; after the data publishing entity in the domain receives the notification, it updates the domain relationship library; creates a subject backup data subscriber, and creates a corresponding subscriber for the subject that needs to back up data; the subscriber publishes a heartbeat signal to notify the data publisher under the subject; after the publisher receives the heartbeat signal, the data backup link is established. If the heartbeat signal is not received, the subscriber sends a heartbeat signal periodically. After the backup link is established, the data transmitted by the data publisher can be received by the data backup subscriber in addition to the corresponding task subscriber to realize data backup. For the data to be backed up, it can also be controlled by time filtering and content filtering. Time filtering: You can specify an interval on the data reader to define the minimum delay between DDS data changes. The default is 0, which means all data is received. Content filtering: Define the filtering conditions through the filter expression. After creating the expression, you can change the expression parameters, but you cannot modify the expression itself.

[0018] The beneficial effects of the present invention are:

[0019] The present invention connects the airborne and ground-based units through DDS to achieve domain-based data transmission isolation. Targeted transmission QoS strategies are defined for various data types to ensure real-time and reliable data transmission. The present invention ensures high-real-time and high-reliability transmission of information from various avionics systems, and can configure transmission strategies as needed, while maintaining good scalability of the system to meet data transmission needs for a variety of different interface devices, providing a complete and selectable data backup function, and achieving full lifecycle management of eVTOL avionics system data. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a structural diagram of a DDS communication architecture for an eVTOL platform of the present invention;

[0021] Figure 2 A schematic diagram of a sensor module of a DDS communication architecture for an eVTOL platform according to the present invention;

[0022] Figure 3 A schematic diagram of a data source module of a DDS communication architecture for an eVTOL platform according to the present invention;

[0023] Figure 4 A schematic diagram of a partition processing module of a DDS communication architecture for an eVTOL platform according to the present invention;

[0024] Figure 5 A schematic diagram of a data backup module of a DDS communication architecture for an eVTOL platform according to the present invention;

[0025] Figure 6 A schematic diagram of a DSS communication principle of a DDS communication architecture for an eVTOL platform of the present invention;

[0026] Figure 7 A schematic diagram of a DDS configuration process of a DDS communication architecture for an eVTOL platform of the present invention;

[0027] Figure 8 A schematic diagram of a sensor DDS domain of a DDS communication architecture for an eVTOL platform according to the present invention;

[0028] Fig. 9 A schematic diagram of a data source DDS domain of a DDS communication architecture for an eVTOL platform according to the present invention;

[0029] Fig.10 A schematic diagram of a display control DDS domain of a DDS communication architecture for an eVTOL platform according to the present invention;

[0030] Fig.11 A schematic diagram of a data backup process for a data backup module of a DDS communication architecture for an eVTOL platform of the present invention;

[0031] Fig.12 The figure is a schematic diagram of a backup data filtering process of a DDS communication architecture for an eVTOL platform according to the present invention. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0033] The present invention provides a DDS communication architecture for eVTOL platforms, such as Figure 1 As shown, it is used to realize the communication and full life cycle management of data in the eVTOL scenario; the architecture is divided into two parts: the airborne end and the ground end. The airborne end mainly carries the flight function and uses the airborne sensor to perform the task. The airborne end includes: sensor module 1-1, airborne end DDS module 1-2, data source module 1-3, partition processing module 1-4, data backup module 1-5; the ground end mainly includes: ground end DDS module 1-6, display control module 1-7.

[0034] The DDS communication system includes an airborne DDS module 1-2 and a ground-side DDS module 1-6, which serve as communication methods for the eVTOL airborne and ground-side, respectively, and connect the airborne and ground-side through wireless communication; the airborne end carries a sensor module 1-1 that carries the task, and the collected data is collected and sent to the partition processing module 1-4 through the airborne DDS module 1-2; the data source module 1-3 receives external data and control signals, transmits them to the partition processing module 1-4 through the airborne DDS module 1-2, and sends the airborne status information to the ground; the partition processing module 1-4 performs operating system partition processing on each task, obtains the task processing result and generates a corresponding control signal; the airborne DDS module 1-2 and the ground-side DDS module 1-6 are divided according to data domain and topic, and provide data collection and distribution services according to QoS; the data backup module 1-5 monitors the airborne DDS module 1-2, and obtains the data transmitted in the airborne DDS module 1-2 through configuration information for configurable and selectable backup.

[0035] like Figure 2As shown, the sensor module 1-1 includes binocular vision 2-1, millimeter wave radar 2-2, ADS-B 2-3, and air collision avoidance 2-4. The binocular vision 2-1 is used to provide image and video data streams; the millimeter wave radar 2-2 is used to provide echo signals for distance measurement and target detection; ADS-B 2-3 is used to send eVTOL position information to the outside and receive signals from other aircraft or ground stations; air collision avoidance 2-4 is used to provide flight information of other aircraft within a certain range of the aircraft, so as to guide the aircraft to maneuver. The sensor module 1-1 is bidirectionally connected to the airborne DDS module 1-2, sending sensor data for signal processing by the sensor partition processing module 4-1, and receiving control signals returned by the sensor partition processing module 4-1.

[0036] like Figure 3 As shown, the data source module 1-3 includes two parts: an external data source 3-1 and a virtual data source 3-2. The external data source 3-1 includes data and control signals transmitted by wireless communication, and the virtual data source 3-2 is used on the airborne end to test the performance parameters such as transmission delay, transmission rate, bit error rate, etc. of the internal communication system.

[0037] like Figure 4 As shown, the partition processing module 1-4 includes four partition operating systems, which are bidirectionally connected to the airborne DDS module 1-2. The sensor data partition processing module 4-1 completes signal processing for four types of sensor data, and sends the processing results to the ground-side display control module 1-7 through the airborne DDS module 1-2; the data source data partition processing module 4-2 is used to complete the corresponding test tasks and calculate the test results for the data of the virtual data source 3-2, and parse the sent data and control signals for the external data source 3-1 to provide data support for the airborne tasks; the display control data partition processing module 4-3 transmits the eVTOL status and task information to the display control module 1-7 through the airborne DDS module 1-2, and parses the display control module 1-7 data and control signals; the data backup partition processing module 4-4 configures the data backup module 1-5 according to the task requirements, and configures the DDS for data backup.

[0038] like Figure 5 As shown, the data backup module 1-5, according to the configuration information generated by the data backup partition processing module 4-4, creates a backup link between the sensor module 1-1, the partition processing module 1-4, the data source module 1-3 and the airborne DDS module 1-2 to monitor the information in the entire system, and collects and backs up the information according to the configuration information of the data backup partition processing module 4-4.

[0039] The display control module 1-7 provides a system monitoring interface, receives the eVTOL status information transmitted by the airborne end, and displays it on the ground end. Ground personnel can send control signals to the airborne end through this module, and the airborne end display control data partition processing module 4-3 generates airborne end control signals and executes tasks.

[0040] like Figure 6 As shown, DDS communication includes communication between the airborne DDS modules 1-2 and the ground-side DDS modules 1-6. The domain is the basic partition of the DDS communication architecture. Each publisher and subscriber of data belongs to a domain and can only access the data of this domain, which is isolated from publishers and subscribers in other domains. In this architecture, it is divided into three domains: sensor DDS domain, data source DDS domain, and display control DDS domain. Among them, the sensor DDS domain and the data source DDS domain are provided with data collection and distribution services by the airborne DDS module, and the display control DDS domain is provided by the airborne and ground terminals. Wireless communication is used for data transmission between the two.

[0041] DDS software deployment, based on Figure 7 The process is as follows:

[0042] Step 7-S1, define the data format IDL. The data transmitted in DDS needs to be defined through IDL. Each avionics system data corresponds to a topic, with corresponding publishers and subscribers. The data format transmitted in the topic is defined as a structure, including scalars, characters, arrays, etc. These data types are precompiled by the compiler to generate code and provide API interfaces for publishers / subscribers to call. In the DDS deployment process, the first step is to define IDL for existing data types.

[0043] Step 7-S2, create a subscription and publishing program. Based on the IDL definition, create publishers and subscribers for the task. For the sensor part, for each sensor, after completing the conversion of the connection protocol to the DDS protocol, create a publisher program. The publisher sends data according to the IDL definition data format. According to the platform requirements such as processing, display, and backup, set the corresponding subscriber for each publisher program. The subscriber reads the data according to the IDL definition.

[0044] Step 7-S3, configure QoS. The data sender and receiver need to set different QoS according to the characteristics of each data type. The specific QoS settings are described in detail below.

[0045] like Figure 8As shown, for the sensor DDS domain, the sensor module 1-1 acts as a data publisher, manages four types of sensor data, generates corresponding publishers, and sets different QoS for each type of data. Among them, ADS-B2-3 belongs to flight-critical equipment, and publisher 8-11 publishes data, corresponding to data topic 8-12, and subscriber 8-14 subscribes to collect data, and QoS8-13 is set as follows: the reliability strategy sets kind to RELIABLE to maintain the highest reliability; the persistence strategy is set to TRANINENT_LOCAL, and the sample data is saved locally to provide to the dynamically added nodes; the deadline strategy stipulates that a data must be sent within the deadline for heartbeat detection and perception of system status; the life cycle strategy is set to permanent to save navigation data; the transmission data priority is set to the highest. Binocular vision 2-1 transmits data streams. Data is published by publisher 8-21, corresponding to data topic 8-22, and is subscribed and collected by subscriber 8-24. The data quality requirement is relatively low, and QoS8-23 is designed as follows: the reliability strategy sets kind to BEST-EFFORT, and tries to transmit image and video data; due to the large amount of data, the persistence strategy is set to VOLATILE, and the receiver does not save the data locally after confirming the receipt of the data; the deadline is set to send a heartbeat signal for a longer time than ADS-B; the life cycle is set to the lowest among sensor data; and the transmission data priority is set to the lowest among the four sensors. Millimeter wave radar 2-2, data is published by publisher 8-31, corresponding to data topic 8-32, and is subscribed and collected by subscriber 8-34. QoS8-33 is configured as follows: the reliability strategy sets kind to RELIABLE; the persistence strategy is set to VOLATILE; the deadline is set to send a heartbeat signal according to the task data cycle when there is no data; the life cycle is set to the second lowest among sensor data; and the transmission data priority is set to the second lowest among the four sensors. Air collision avoidance 2-4 and ADS-B are both critical flight equipment. Data is published by publisher 8-41, corresponding to data topic 8-42, and collected by subscriber 8-44. QoS8-43 is designed as follows: reliability strategy sets kind to RELIABLE; persistence strategy is set to TRANSIENT_LOCAL, and sample data is saved locally to provide to dynamically added nodes; deadline strategy is set to send heartbeat signals; life cycle strategy is set to permanent, and navigation data is saved; transmission data priority is set to the second highest. Sensor data partition processing 4-1 is a subscriber to sensor information. For each sensor data, a corresponding subscriber program is established. QoS8-5 of sensor data partition processing 4-1 should be set to the minimum condition. The QoS of each topic is stricter than QoS8-5 to ensure normal data transmission.

[0046] like Fig. 9As shown, for the data source DDS domain, the virtual data source 3-2 creates publisher 9-11 and writes test data. The QoS 9-13 corresponding to topic 9-12 is determined by the type of test data. The data source data partition processing 4-3 establishes subscriber 9-14 to receive virtual test data and feedback the test results through publisher 9-24. The QoS 9-23 of topic 9-22 matches the data type of the test result. The external data source 3-1 writes to topic 9-32 through publisher 9-31, and subscriber 9-34 collects data, mainly including cloud information received during flight. QoS 9-33 is limited by wireless transmission and is set as follows: the reliability strategy sets kind to BEST-EFFORT, best effort transmission, and does not require full real-time performance; due to the unknown amount of data, the persistence strategy is set to VOLATILE, and the receiver does not save the data locally after confirming receipt of the data; the time of joining the external data source is uncertain, and the deadline is not set; the life cycle is set to be higher than the virtual data source; the transmission data priority is set to take precedence over the virtual data source transmission. The feedback data output by the data source data partition processing 4-3 to the external data source 3-1 is affected by the same transmission conditions, and the QoS9-4 corresponding to the topic 9-42 should be consistent with QoS9-3. QoS9-5 is set to the lowest condition from QoS9-1 to QoS9-4, and is compatible with all transmissions in the data source DDS domain.

[0047] like Fig.10 As shown, the display control DDS domain mainly includes two parts: the ground end and the airborne end. For the control signal sent by the display control module 1-7, for topic 10-1, QoS10-1 is set as follows: the reliability strategy sets kind to RELIABLE to ensure the real-time transmission of the control signal; the persistence strategy is set to TRANSIENT_LOCAL, the control signal sent is saved locally, and historical query is provided; the control signal sending time is uncertain, and the deadline is not set; the life cycle is set to be higher than the display data receiving end topic 10-2; the transmission data priority is set to take precedence over topic 10-2 transmission. The display control module 1-7 receives the flight status and task execution status transmitted by the airborne end, and QoS10-2 is set as follows: the reliability strategy sets kind to BEST-EFFORT, tries to provide the latest status information, and allows historical status information to be lost; the persistence strategy is set to VOLATILE, and the stored historical status is removed after confirmation of reception; the control signal sending time is uncertain, and the deadline is not set; the life cycle is set comprehensively according to information such as the task cycle and flight speed; the priority is lower than the priority of topic 10-1. Display and control data partition processing 4-2QoS10-3 is set to the minimum conditions of QoS10-1 and Qos10-2, and is compatible with all transmissions in the DDS domain of the data source.

[0048] DDS data backup function Figure 8As shown in the dotted line part, according to the configuration information generated by the data backup partition processing, it is dynamically added through DDS to realize the real-time selective backup of the information in the system. Fig.11 As shown, taking ADS-B data backup as an example: First, the data backup module creates an entity corresponding to the data backup module in the sensor DDS domain; after the creation is completed, the data backup module publishes a periodic notification in the domain to notify the sensor DDS domain of a new entity; after receiving the notification, the four sensor data publishing entities in the domain update the domain relationship library; the data backup module creates a backup data subscriber 8-15 for ADS-B topic 8-12; subscriber 8-15 publishes a heartbeat signal to notify publisher 8-11 of topic 8-15; after publisher 8-11 receives the heartbeat signal, the data backup link is established. If the heartbeat signal is not received, subscriber 8-15 periodically sends a heartbeat signal. After the backup link is established, the data transmitted by data publisher 8-11 can be received by data backup subscriber 8-15 in addition to the corresponding task subscriber 8-14, thus realizing data backup.

[0049] like Fig.12 As shown in the figure, the data to be backed up can also be controlled by time filtering and content filtering. Time filtering: You can specify the interval on the data reader to define the minimum delay between DDS data changes. The default is 0, which means all data is received. Content filtering: Define the filtering conditions through the filter expression. For ADS-B data, set the conditions to filter key information, reduce the system transmission bandwidth, and improve data storage efficiency.

[0050] Compatibility requires that the subscriber end that the backup module uses to monitor and back up has lower QoS requirements than the publisher end. The specific settings for the backup module QoS8-6 are as follows: For the reliability QoS strategy, BEST_EFFORT is easier to achieve than RELIABLE, so the backup subscriber needs to be set to BEST_EFFO RT, which is compatible with all publishers; for the deadline, the sender deadline must be less than the subscriber deadline. In this system, the backup module deadline is set to the lowest value among all DDS communication entities; the persistence strategy is set to VOLATILE, and the data is stored locally in the system after parsing.

[0051] It can be seen that the present invention ensures high-real-time and high-reliability transmission of various avionics system information through refined configuration and monitoring backup of the DDS system. The present invention can configure transmission strategies as needed, maintain good scalability of the system, meet the data transmission of various different interface devices, and realize the full life cycle management of avionics system data.

[0052] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A DDS communication architecture for eVTOL platforms, characterized in that: It includes airborne end and ground end; among them, The airborne end includes a sensor module, a data source module, a partition processing module, a data backup module, and an airborne end DDS module; The ground terminal includes a display control module and a ground terminal DDS module; The DDS communication architecture composed of an airborne DDS module and a ground-side DDS module links the airborne and ground-side of the eVTOL platform. The airborne DDS module and the ground-side DDS module are divided according to the domain and subject of the data and provide data collection and distribution services based on QoS; The airborne end carries a sensor module that carries the task, and is used to send the collected data to the partition processing module through the DDS communication architecture; The data source module is used to receive external data and control signals, and transmit them to the partition processing module through the onboard DDS module; The partition processing module receives data from the sensor module and the data source module, performs operating system partition processing on each task, obtains the task processing result and generates a corresponding control signal to transmit to the display control module of the ground end; The data backup module monitors the airborne DDS module and obtains the data transmitted in the airborne DDS module through configuration information for configurable and selectable backup.

2. A DDS communication architecture for eVTOL platform according to claim 1, characterized in that: The sensor module includes binocular vision, millimeter-wave radar, ADS-B, and air collision avoidance. The binocular vision is used to provide picture and video data streams; the millimeter-wave radar is used to provide echo signals for distance measurement and target detection; the ADS-B is used to send eVTOL position information to the outside and receive signals from other aircraft or ground stations; the air collision avoidance is used to provide flight information of other aircraft within a certain range of the aircraft; the sensor module is bidirectionally connected to the airborne DDS module.

3. The DDS communication architecture for eVTOL platform according to claim 1, characterized in that: The data source module includes an external data source and a virtual data source. The external data source includes data and control signals transmitted by wireless communication. The virtual data source is used to generate flight data and test the transmission delay, transmission rate and bit error rate of the internal communication system on the airborne end.

4. The DDS communication architecture for eVTOL platform according to claim 1, characterized in that: The partition processing module includes sensor data partition processing, data source data partition processing, display and control data partition processing, and data backup partition, and is bidirectionally connected to the airborne DDS module; wherein, The sensor data partition is used to complete signal processing for the sensor data, and send the processing results to the ground-side DDS module through the airborne DDS module, and then to the ground-side display control module; The data source data partition completes the corresponding test tasks and calculates the test results for the virtual data source data, and parses the sent data and control signals for the external data source to provide data support for the onboard terminal tasks; The display control data partition is used to transmit the eVTOL status and mission information through the airborne DDS module to the ground-side DDS module, and then to the ground-side display control module to parse the display control module data and control signals; The data backup partition is used to configure the data backup module according to task requirements and configure the DDS communication domain and subject of data backup.

5. The DDS communication architecture for eVTOL platform according to claim 1, characterized in that: The airborne DDS module and the ground-side DDS module use a data-centric publish-subscribe model to perform dynamic communication link definition and separate configuration of the service quality of the communication link.

6. The DDS communication architecture for eVTOL platform according to claim 1, characterized in that: The DDS communication architecture includes a sensor DDS domain, a data source DDS domain, and a display control DDS domain; wherein the sensor DDS domain and the data source DDS domain are provided with data collection and distribution services by the airborne DDS module, and the display control DDS domain is jointly provided by the airborne and ground terminals. There are multiple types of data in each domain, and each type of data is distinguished by a different topic. The avionics upper-layer application transfers the given topic data to the DDS domain through the interface provided by the data publisher. The publisher obtains the published data and sends the data to the relevant subscribers in the domain. The processing unit obtains the data from the subscriber and performs corresponding processing.

7. The DDS communication architecture for eVTOL platform according to claim 1, characterized in that: The data backup module is used to dynamically add the configuration information generated by the data backup partition processing module through DDS to achieve real-time selective backup of information in the system.

8. The DDS communication architecture for eVTOL platform according to claim 7, characterized in that: The data backup module joins the data backup process as follows: First, create an entity corresponding to the data backup module in the domain; after the creation is completed, the data backup module publishes a periodic notification in the domain to notify that a new entity has been added to the domain; after receiving the notification, the data publishing entity in the domain updates the domain relationship database; create a topic backup data subscriber, and create a corresponding subscriber for the topic that needs to back up data; The subscriber publishes a heartbeat signal to notify the data publisher under the topic; after the publisher receives the heartbeat signal, the data backup link is established. If the heartbeat signal is not received, the subscriber sends a heartbeat signal periodically.

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