A dds communication architecture for evtol platforms

Abstract

The application discloses an eVTOL platform-oriented DDS communication architecture, which 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; the DDS communication architecture composed of the airborne end DDS module and the ground end DDS module links the airborne end and the ground end of the eVTOL platform, the airborne end DDS module and the ground end DDS module are divided according to the domain and the topic of data, and provide data collection and distribution services according to QoS. The application guarantees high real-time and high-reliable transmission of various avionics system information, can configure transmission strategies according to needs, maintains good expansibility of the system, meets data transmission of various different interface devices, provides perfect selectable data backup functions, and realizes full-life-cycle management of eVTOL avionics system data.

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 eVTOL platforms. Background Art

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

[0003] eVTOLs' takeoff, cruising, flight control, navigation, and communications functions all rely on avionics systems. Avionics refers to the sum of all electronic systems on an aircraft and has gradually established a unique core position in the development of aircraft. The development of avionics, primarily in the commercial aviation sector, has evolved from distributed avionics systems to federated avionics systems, integrated modular avionics systems, and finally distributed integrated modular avionics systems.

[0004] Existing avionics system architectures are designed for large manned aircraft applications. The AFDX intra-flight switching network and other communication methods employed are unsuitable for eVTOL applications. For eVTOL, establishing a convenient and scalable avionics system architecture is crucial. Modern eVTOL avionics systems are mission-specific. To ensure reliable communication and data during missions, while minimizing the need to transmit information between applications and the system, allowing software developers to focus on application design, new communication architectures are urgently needed to facilitate the adoption of eVTOL in the low-altitude economy. Summary of the Invention

[0005] To address the communication needs of eVTOLs, this paper proposes a DDS communication architecture for eVTOL platforms. Based on DDS, this architecture can expand upon the software and hardware of DDS to meet current basic usage requirements while also supporting future intelligent digital communications for eVTOLs.

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

[0007] A DDS communication architecture for eVTOL platforms includes an airborne terminal and a ground terminal. The airborne terminal includes a sensor module, a data source module, a partition processing module, a data backup module, and an airborne DDS module. The ground terminal includes a display control module and a ground-based DDS module. The DDS communication system, consisting of the airborne and ground-based DDS modules, connects the airborne and ground terminals 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 components: binocular vision, ADS-B, millimeter-wave radar, and airborne collision avoidance. The binocular vision module provides image and video data streams; the millimeter-wave radar provides echo signals for distance measurement and target detection; ADS-B transmits eVTOL position information and receives signals from other aircraft or ground stations; and airborne collision avoidance provides flight information about other aircraft within a certain radius around the aircraft, enabling aircraft maneuvers. The sensor module is bidirectionally connected to the onboard DDS module, transmitting sensor data to the sensor partition processing module for signal processing and receiving control signals from the sensor partition processing module.

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

[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. It is bidirectionally connected to the airborne DDS module. Sensor data partition processing completes signal processing for four types of sensor data: binocular vision, millimeter-wave radar, ADS-B, and air collision avoidance. The processing results are sent to the ground-side DDS module through the airborne DDS module, and then to the ground-side display and control module. Data source data partition processing completes corresponding test tasks and calculates test results for virtual data source data. For external data sources, it parses the transmitted data and control signals to provide data support for airborne tasks. Display and control data partition processing transmits eVTOL status and mission information to the ground-side DDS module through the airborne DDS module, and then to the ground-side display and control module, parsing the display and control module data and control signals. Data backup partition processing configures the data backup module according to mission requirements and configures the DDS communication domain and topic for 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's display and 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 configure the service quality of the communication links separately.

[0014] In the system communication architecture, data from external data sources is 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] A domain is the fundamental partition of the DDS communication architecture. Each data publisher and subscriber belongs to a specific domain and can only access data within that domain, isolating them from publishers and subscribers in other domains. This architecture is divided into three domains: the sensor DDS domain, the data source DDS domain, and the display control DDS domain. The sensor and data source DDS domains are provided with data collection and distribution services by the airborne DDS module, while the display control DDS domain is provided by both the airborne and ground terminals, with wireless communication used for data transmission between the two. Multiple types of data exist in a domain, each distinguished by a different topic. Avionics upper-layer applications transmit data on a given topic to DDS through the interface provided by the data publisher. The publisher obtains the published data and sends it to the relevant subscribers in the domain. The processing unit obtains the data from the subscribers and processes it accordingly.

[0016] During data transmission, the system architecture provides fine-grained control over real-time QoS. Each publisher / subscriber can establish an independent QoS agreement. Publishers provide QoS policies, subscribers request a set of QoS policies, and the DDS middleware determines whether QoS matches between the two or more parties. The general principle of QoS compatibility is that subscribers have looser data quality constraints than publishers. For reliability QoS, publishers set it to RELIABLE or BEST_EFFORT, using high reliability or best-effort delivery. Subscribers set it to BEST_EFFORT, meeting looser requirements. For deadline QoS, subscribers set a deadline shorter than the publisher's deadline. For persistence QoS, publishers select a transient local policy to retain samples for dynamically joining external nodes. For liveness QoS, the policy applies to the entire topic, with membership set to automatic detection. After a specified period of inactivity, heartbeat signals are automatically sent to confirm connectivity. For history QoS, data that needs to be sent by both publishers and subscribers, or read by applications, is retained. For partition QoS, partitions are created within a domain to match data readers and writers within the partitions for dynamically joining nodes.

[0017] The data backup module is dynamically added via DDS based on the configuration information generated by the data backup partition processing module, enabling real-time, selective backup of system information. The process for adding the data backup module to a topic data backup is as follows: First, an entity corresponding to the data backup module is created in the domain. Once created, the data backup module publishes periodic notifications within the domain, announcing the addition of a new entity. Upon receiving the notifications, the domain data publishing entity updates the domain relationship database. A topic backup data subscriber is created for the topic requiring data backup. The subscriber publishes a heartbeat signal to notify the data publisher under the topic. After the publisher receives the heartbeat signal, a data backup link is established. If no heartbeat signal is received, the subscriber periodically sends heartbeat signals. After the backup link is established, data transmitted by the data publisher can be received by the data backup subscriber in addition to the corresponding task subscriber, thus achieving data backup. The data to be backed up can also be controlled through 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: You define filtering conditions through filter expressions. After creating an expression, you can change the expression parameters, but you cannot modify the expression itself.

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

[0019] This invention connects the various units on the airborne and ground sides via DDS, achieving domain-specific data transmission isolation. Targeted transmission QoS policies are defined for various data types to ensure real-time and reliable data transmission. This invention ensures highly reliable, real-time transmission of information from various avionics systems, and allows for customized transmission policies. While maintaining excellent system scalability to accommodate data transmission for a variety of different interface devices, it also provides comprehensive, selectable data backup capabilities, enabling 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 eVTOL platforms in the present invention;

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

[0022] Figure 3 This is 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 This is 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 This is 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 This is a schematic diagram of the DSS communication principle of a DDS communication architecture for eVTOL platforms of the present invention;

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

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

[0028] Figure 9 Schematic diagram of a data source DDS domain of a DDS communication architecture for an eVTOL platform according to the present invention;

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

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

[0031] Figure 12 A backup data filtering process schematic diagram of an eVTOL platform-oriented DDS communication architecture of the present application. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0033] The present application provides an eVTOL platform-oriented DDS communication architecture, as shown in Figure 1 for realizing the communication and full life cycle management of data in the eVTOL scenario; the architecture is divided into two parts of an airborne end and a ground end, the airborne end mainly carries the flight function and performs tasks by using airborne sensors, and the airborne end includes: a sensor module 1-1, an airborne end DDS module 1-2, a data source module 1-3, a partition processing module 1-4, and a data backup module 1-5; the ground end mainly includes: a ground end DDS module 1-6 and a display control module 1-7.

[0034] The DDS communication system includes the airborne end DDS module 1-2 and the ground end DDS module 1-6, the two modules are respectively used as the communication mode of the airborne end and the ground end of the eVTOL, and connect the airborne end and the ground end through wireless communication; the airborne end carries the sensor module 1-1 carrying tasks, collects and transmits the collected data to the partition processing module 1-4 through the airborne end 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 end DDS module 1-2, and sends the airborne end state information to the ground end; the partition processing module 1-4 performs operating system partition processing on each task, obtains the task processing result and generates the corresponding control signal; the airborne end DDS module 1-2 and the ground end DDS module 1-6 are divided according to the data domain and topic, provide data collection and distribution services according to QoS; the data backup module 1-5 monitors the airborne end DDS module 1-2, obtains the transmitted data in the airborne end DDS module 1-2 through configuration information, and performs configurable and selectable backup.

[0035] As Figure 2As shown, sensor module 1-1 includes four components: binocular vision 2-1, millimeter-wave radar 2-2, ADS-B 2-3, and airborne collision avoidance 2-4. Binocular vision 2-1 provides image and video data streams; millimeter-wave radar 2-2 provides echo signals for distance measurement and target detection; ADS-B 2-3 transmits eVTOL position information and receives signals from other aircraft or ground stations; and airborne collision avoidance 2-4 provides flight information about other aircraft within a certain range of the aircraft to guide maneuvers. Sensor module 1-1 is bidirectionally connected to the onboard DDS module 1-2, transmitting sensor data for signal processing by the sensor partition processing module 4-1 and receiving control signals from 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, while the virtual data source 3-2 is used on the airborne end to test performance parameters such as transmission delay, transmission rate, and bit error rate of the internal communication system.

[0037] like Figure 4 As shown, the partition processing module 1-4 includes four partition operating systems and is 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-based 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. For the external data source 3-1, it parses the transmitted data and control signals to provide data support for the airborne mission. The display and control data partition processing module 4-3 transmits the eVTOL status and mission information to the display control module 1-7 through the airborne DDS module 1-2, and parses the data and control signals of the display control module 1-7. The data backup partition processing module 4-4 configures the data backup module 1-5 according to the mission requirements and configures the DDS for data backup.

[0038] like Figure 5 As shown, the data backup module 1-5 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 according to the configuration information generated by the data backup partition processing module 4-4 to monitor the information in the entire system, and collects and backs up information according to the configuration information of the data backup partition processing module 4-4.

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

[0040] like Figure 6 As shown, DDS communication involves communication between airborne DDS modules 1-2 and ground-side DDS modules 1-6. Domains are the fundamental partitions of the DDS communication architecture. Each data publisher and subscriber belongs to a specific domain and can only access data within that domain, isolated from publishers and subscribers in other domains. This architecture is divided into three domains: the sensor DDS domain, the data source DDS domain, and the display control DDS domain. The sensor and data source DDS domains are provided with data collection and distribution services by the airborne DDS modules, while the display control DDS domain is provided by both the airborne and ground-side terminals, with wireless communication 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). Data transmitted in DDS must be defined using IDL. Each type of avionics system data corresponds to a topic, with corresponding publishers and subscribers. The data format transmitted within a topic is defined as a structure, including scalars, characters, arrays, and other types. These data types are precompiled by the compiler, generating code that provides an API interface for publishers and subscribers to call. The first step in the DDS deployment process is to define the IDL for the existing data types.

[0043] Step 7-S2: Create a subscription and publication program. Based on the IDL definition, create publishers and subscribers for each task. For sensors, after converting the connection protocol to the DDS protocol, create a publisher program for each sensor. The publisher sends data according to the IDL data format definition. Based on platform requirements such as processing, display, and backup, set up corresponding subscribers for each publisher program. The subscribers read the data according to the IDL definition.

[0044] Step 7-S3: Configure QoS. Data senders and receivers need to set different QoS settings based on the characteristics of each data type. Specific QoS settings are described below.

[0045] like Figure 8As shown in the figure, for the sensor DDS domain, sensor module 1-1 acts as a data publisher, managing four types of sensor data, generating corresponding publishers, and setting different QoS for each type of data. ADS-B2-3, a flight-critical device, publishes data via publisher 8-11, corresponding to data topic 8-12, which is subscribed to and collected by subscriber 8-14. QoS 8-13 is set as follows: The reliability policy is set to RELIABLE for highest reliability; the persistence policy is set to TRNIENT_LOCAL to locally store sample data for dynamically joining nodes; the deadline policy specifies that a data item must be sent within a deadline for heartbeat detection and system status perception; the lifecycle policy is set to permanent to store navigation data; and the transmission data priority is set to the highest. Binocular vision 2-1 transmits data streams. Publisher 8-21 publishes data to data topic 8-22, which is then collected and subscribed to by subscribers 8-24. Data quality requirements are relatively low, and QoS 8-23 is designed as follows: The reliability policy is set to BEST-EFFORT, ensuring best-effort transmission of image and video data. Due to the large data volume, the persistence policy is set to VOLATILE, meaning the receiver does not store the data locally after confirming receipt. The deadline is set longer than for ADS-B, requiring a heartbeat signal to be sent. The lifetime is set to the lowest among all sensor data, and the transmission data priority is set to the lowest among all four sensors. Millimeter-wave radar 2-2 publishes data to data topic 8-32, which is then subscribed to by subscribers 8-34. QoS 8-33 is configured as follows: The reliability policy is set to RELIABLE, the persistence policy is set to VOLATILE, the deadline is set to follow the mission data cycle, and a heartbeat signal is sent when no data is available. The lifetime is set to the second lowest among all sensor data, and the transmission data priority is set to the second lowest among all four sensors. Airborne collision avoidance 2-4, like ADS-B, is a critical flight device. Publisher 8-41 publishes data to corresponding data topics 8-42, which are then subscribed to and collected by subscribers 8-44. QoS 8-43 is designed as follows: The reliability policy is set to RELIABLE; the persistence policy is set to TRNIENT_LOCAL, saving sample data locally to provide to dynamically joining nodes; the deadline policy is set to send heartbeat signals; the lifecycle policy is set to permanent, preserving navigation data; and the data transmission priority is set to the second highest. Sensor data partitioning 4-1, as a subscriber to sensor information, establishes a corresponding subscriber program for each sensor data item. QoS 8-5 of sensor data partitioning 4-1 should be set to the minimum requirement, and the QoS of each topic should be stricter than QoS 8-5 to ensure normal data transmission.

[0046] like Figure 9As shown, in the data source DDS domain, the virtual data source 3-2 creates publisher 9-11 and writes test data. The QoS 9-13 assigned to topic 9-12 is determined by the test data type. Data source data partitioning processing 4-3 establishes subscriber 9-14 to receive the virtual test data and feedback the test results through publisher 9-24. The QoS 9-23 assigned to topic 9-22 matches the test result data type. External data source 3-1 writes to topic 9-32 through publisher 9-31, and subscriber 9-34 collects data, primarily receiving cloud information during flight. QoS 9-33, subject to wireless transmission limitations, is set as follows: The reliability policy is set to BEST-EFFORT, which ensures best-effort transmission without requiring full real-time performance. Due to the unknown data volume, the persistence policy is set to VOLATILE, meaning the receiver does not store the data locally after confirming receipt. The external data source's join time is uncertain, and no deadline is set. The lifecycle is set higher than that of the virtual data source, and the data transmission priority is set to take precedence over that of the virtual data source. The feedback data output by data source data partition processing 4-3 to external data source 3-1 is subject to the same transmission conditions. QoS 9-4 corresponding to topic 9-42 should be consistent with QoS 9-3. QoS 9-5 is set to the lowest condition from QoS 9-1 to QoS 9-4 and is compatible with all transmissions in the data source DDS domain.

[0047] like Figure 10 As shown, the display control DDS domain primarily consists of the ground side and the airborne side. For control signals sent by display control module 1-7, QoS 10-1 is set as follows: Reliability policy is set to RELIABLE, ensuring real-time transmission of control signals; persistence policy is set to TRNIENT_LOCAL, storing the sent control signals locally and providing historical queries; control signal transmission time is uncertain, with no set deadline; lifecycle is set higher than that of display data receiver topic 10-2; and transmission data priority is set to take precedence over topic 10-2 transmission. Display control module 1-7 receives flight status and mission execution status transmitted by the airborne side. QoS 10-2 is set as follows: Reliability policy is set to BEST-EFFORT, providing the latest status information at its best effort, while allowing for historical status packet loss; persistence policy is set to VOLATILE, removing stored historical status information after receipt is confirmed; control signal transmission time is uncertain, with no set deadline; lifecycle is set based on information such as mission cycle and flight speed; and priority is lower than that 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 data source DDS domain.

[0048] DDS data backup function such as 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 achieve real-time selective backup of information in the system. Figure 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. Once created, the data backup module publishes a periodic notification in the domain, notifying the sensor DDS domain of the addition of a new entity. After receiving the notification, the four sensor data publishing entities in the domain update the domain relationship database. 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, a data backup link is established. If no heartbeat signal is received, subscriber 8-15 periodically sends heartbeat signals. After the backup link is established, 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 achieving data backup.

[0049] like Figure 12 As shown in the figure, the data to be backed up can be controlled through 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 filtering conditions through filter expressions. For ADS-B data, set conditions to filter key information, reduce system transmission bandwidth, and improve data storage efficiency.

[0050] Compatibility requires that the subscribers monitored and backed up by the backup module have lower QoS requirements than publishers. The specific settings for backup module QoS 8-6 are as follows: For reliability, BEST_EFFORT is easier to achieve than RELIABLE, so the backup subscriber should be set to BEST_EFFORT to be compatible with all publishers. For deadlines, 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 policy is set to VOLATILE, and after parsing, data is stored locally in the system.

[0051] It can be seen that the present invention ensures high-real-time and high-reliability transmission of various avionics system information through the refined configuration and monitoring backup of the DDS system. The present invention can configure the transmission strategy according to the needs, 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 are only specific embodiments of the present invention and are 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 by: Including 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, consisting of an airborne DDS module and a ground-side DDS module, connects the airborne and ground-side eVTOL platforms. The airborne DDS module and the ground-side DDS module are divided according to data domains and topics, and provide data collection and distribution services based on QoS. The airborne terminal 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 terminal; The data backup module monitors the onboard DDS module and dynamically joins the DDS module based on the configuration information generated by the data backup partition processing module to achieve real-time selective backup of information in the system. The data backup process is 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 this domain; after the data publishing entity in the domain receives the notification, it updates the domain relationship library; creates a topic backup data subscriber, and creates corresponding subscribers for the topics that need 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.

2. The DDS communication architecture for eVTOL platforms 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 image 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 world 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 platforms 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 platforms 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 for the virtual data source data and calculates the test results. For the external data source, it parses the sent data and control signals to provide data support for the onboard terminal tasks. The display and 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 topic of data backup.

5. The DDS communication architecture for eVTOL platforms 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 platforms 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. 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 transmits 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 subscribers and performs corresponding processing.

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