Redundancy management method and equipment for sensor loopback signals in navigation control system

Abstract

The invention relates to the technical field of navigation control system control, and provides a redundancy management method and device for sensor loopback signals in a navigation control system, and the method comprises the steps: carrying out the validity discrimination of the sensor loopback signal data in the navigation control system, sorting according to the numerical value, and carrying out the redundancy management. Comparing the difference between the maximum value of the qualified redundant signal and the minimum value of the qualified redundant signal with # imgabs0 #, and determining the distribution condition of the qualified redundant signal; if the plurality of qualified redundant signals are located on the two sides of the # imgabs 1 #, reordering is carried out; calculating a pairwise interval deviation, and storing the data into a data pile; qualified redundant signals are marked according to the loading data volume condition in the data heap; and traversing and calculating the deviation between the available signal and the turning point, and taking the channel signal corresponding to the minimum deviation absolute value as a voting value for output. According to the invention, redundancy management of loopback signals with any redundancy is realized, and the method can be widely applied to control systems of ships and civil aircrafts and multi-signal data fusion systems.

Description

Technical Field

[0001] The present invention relates to the technical field of navigation control systems, and particularly to a redundancy management method and device for sensor loop signals in a navigation control system. Background Art

[0002] In modern ship / civil aircraft navigation control systems, a type of sensor measurement signal with a folded loop is often encountered. For example, there are 0° (360°) turning points in ship heading / true heading, 180° (-180°) turning points in civil aircraft heading angle, 180° (-180°) turning points in longitude, etc. At the same time, to ensure the reliability and safety of ocean navigation missions, redundancy fault-tolerant measures are adopted from the "perception - decision - control" end, and a voting monitoring surface is set up to conduct redundancy management in a hierarchical manner.

[0003] Regarding the redundancy voting for the above turning point loop signals, domestic scholars have also explored some corresponding solutions. For example, in the Chinese patent with the patent number CN104677360, a redundancy management algorithm for attitude and heading angles is proposed, which solves the problem of sign jump near 180° of the heading angle that cannot be solved by traditional redundancy management algorithms. However, it only applies to the 180° jumping heading signal of the flight control system, and is not applicable to the heading angle with a turning point at 0° (360°) in the ship field and the sensor signals of other turning points. At the same time, for loop signals with any redundancy and the number of signal sources being greater than or equal to 2, this method is also difficult to directly apply. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the related art. For this purpose, the present invention provides a redundancy management method and device for sensor loop signals in a navigation control system, which realizes the redundancy management of loop signals with any redundancy, the number of signal sources is greater than or equal to 2, and can be widely applied to ship, civil aircraft control systems and multi-signal data fusion systems.

[0005] The present invention provides a redundancy management method for sensor loop signals in a navigation control system, including: S1: Discriminate the validity of the sensor loop signal data in the navigation control system to obtain a plurality of qualified redundant signals; S2: Arrange the plurality of qualified redundant signals in ascending order of numerical value, and determine the distribution of the qualified redundant signals according to the difference between the maximum value and the minimum value of the qualified redundant signals and comparison; S3: If a plurality of qualified redundant signals are located at the same side, the sorted qualified redundant signals form a redundant signal sequence; If a plurality of qualified redundant signals are located at On both sides, reorder multiple qualified redundant signals to obtain a reordered redundant signal sequence; S4: Calculate the pairwise interval deviation of the redundant signal sequence or the reordered redundant signal sequence, and store the data in a data heap according to the pairwise interval deviation; S5: Mark the qualified redundant signals as available or unavailable according to the amount of data loaded in the data heap; S6: Traverse and calculate the deviation between the available signals and the turning points, and take the channel signal corresponding to the minimum absolute deviation as the voting value output.

[0006] Further, in step S1, S11: Obtain the sensor loopback signal data in the navigation control system; S12: Determine whether the update of the loopback signal data times out. If the update of the loopback signal data times out, read the next loopback signal data and execute step S13; If the update of the loopback signal data does not time out, determine whether the loopback signal data is out of bounds. If the loopback signal data is out of bounds, read the next loopback signal data and execute step S13; If the loopback signal data is not out of bounds, perform a BIT self-test on the loopback signal data, read the next loopback signal data, and execute step S13; S13: Determine whether the next loopback signal data has been read completely. If not, execute step S11; If it has been read completely, complete the validity discrimination and obtain qualified redundant signals.

[0007] Further, in step S3, obtaining the reordered redundant signal sequence includes: S31: Calculate the pairwise interval deviation of the sorted qualified redundant signals to obtain first deviations; S32: Select the maximum value among the first deviations to obtain the sequence number of the maximum value of the first deviations. Reorder the sorted qualified redundant signals using the bubble sort method according to the sequence number to obtain the reordered redundant signal sequence.

[0008] Further, in step S31, the calculation expression of the first deviation is: where, is the first first deviation, is the maximum value of the qualified redundant signals, is the minimum value of the qualified redundant signals, is the minimum value of the loopback signal, is the maximum value of the loopback signal, is the a first deviation is the th sorted qualified redundant signal is the th sorted qualified redundant signal is the number of qualified redundant signals

[0009] Further, in step S4, calculating the pairwise interval deviation of the redundant signal sequence, and storing the data into the data heap according to the pairwise interval deviation includes: S411: Calculating the pairwise interval deviation of the redundant signal sequence to obtain a second deviation; S412: Creating a first data heap and putting the first data of the redundant signal sequence into the first data heap; S413: Comparing the first second deviation with the allowable maximum deviation If the first second deviation is greater than the allowable maximum deviation, creating a second data heap; putting the first data corresponding to the first second deviation into the second data heap If the first second deviation is less than or equal to the allowable maximum deviation, putting the first data corresponding to the first second deviation into the first data heap; S414: Using S413 to iteratively store the data in the subsequent redundant signal sequences.

[0010] Further, in step S4, calculating the pairwise interval deviation of the rearranged redundant signal sequence, and storing the data into the data heap according to the pairwise interval deviation includes: S421: Calculating the pairwise interval deviation of the rearranged redundant signal sequence to obtain a third deviation; S422: Creating a first data heap and putting the first data of the rearranged redundant signal sequence into the first data heap; S423: Comparing the first third deviation with the allowable maximum deviation If the first third deviation is greater than the allowable maximum deviation, creating a second data heap; putting the first data corresponding to the first third deviation into the second data heap If the first third deviation is less than or equal to the allowable maximum deviation, putting the first data corresponding to the first third deviation into the first data heap; S424: Using S423 to iteratively store the data in the subsequent rearranged redundant signal sequences.

[0011] Further, step S5 includes: S51: Traversing the number of data in all data heaps to find the data heap with the largest number of data; S52: If there is only one data heap with the largest number of data, marking the redundancy status of all data in the data heap with the largest number of data as available; marking the redundancy status of all data in the remaining data heaps as unavailable; S53: If there are two or more data heaps with the largest number of data, mark the redundancy status of all data as unavailable.

[0012] Further, in step S6, if the redundancy status of all data is marked as unavailable, select the historical sensor value as the voting value for output; if there is data with the redundancy status marked as available, traverse and calculate the deviation from the turning point, and take the signal corresponding to the minimum absolute deviation as the selected channel, and output the signal of the selected channel as the voting value.

[0013] Further, the maximum allowable deviation is determined according to the sensitivity requirements of the system redundancy management and the measurement accuracy of the sensor.

[0014] The present invention also provides a redundancy management device for sensor loop signals in a navigation control system, which is used to execute the redundancy management method for sensor loop signals in a navigation control system as described in any one of the above, including: An effectiveness discrimination module, which discriminates the effectiveness of the sensor loop signal data in the navigation control system to obtain a plurality of qualified redundant signals; A sorting module, which sorts the plurality of qualified redundant signals in ascending order of numerical value, and determines the distribution of the qualified redundant signals according to the difference between the maximum value and the minimum value of the qualified redundant signals and comparison; A sequence obtaining module, which, if a plurality of qualified redundant signals are located on the same side, the sorted qualified redundant signals form a redundant signal sequence; if a plurality of qualified redundant signals are located on both sides, re-sort the plurality of qualified redundant signals to obtain a re-sorted redundant signal sequence; A data storage module, which calculates the pairwise interval deviation of the redundant signal sequence or the re-sorted redundant signal sequence, and stores the data into the data heap according to the pairwise interval deviation; A marking module, which marks the qualified redundant signals as available and unavailable according to the amount of data loaded in the data heap; An output module, which traverses and calculates the deviation of the available signal from the turning point, and takes the channel signal corresponding to the minimum absolute deviation as the voting value for output.

[0015] One or more of the above technical solutions in the embodiments of the present invention have at least one of the following technical effects: The present invention overcomes the limitations of existing redundancy management algorithms that are only applicable to specific signals (such as heading) and specific return jump points (180°), and can be widely applied to ship and civil aircraft control systems as well as data fusion systems for multiple signals, greatly expanding the application scope of redundancy management.

[0016] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be learned through the practice of the present invention. Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic flowchart of a method for redundancy management of sensor loop signals in a navigation control system provided by the present invention.

[0019] Figure 2 It is a schematic structural diagram of a device for redundancy management of sensor loop signals in a navigation control system provided by the present invention.

[0020] Figure 3 It is a schematic diagram of redundant signal reordering in an embodiment of the present invention.

[0021] Reference Signs: 101, validity discrimination module; 102, sorting module; 103, sequence obtaining module; 104, data storage module; 105, marking module; 106, output module. Detailed Embodiments

[0022] To make the objectives, technical solutions, and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention but cannot be used to limit the scope of the present invention.

[0023] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0024] The following combines Figures 1 to 3 to describe a method and device for redundancy management of sensor loop signals in a navigation control system of the present invention.

[0025] As Figure 1 shown, a method for redundancy management of sensor loop signals in a navigation control system includes: S1: Determine the validity of the sensor loop signal data in the navigation control system to obtain multiple qualified redundant signals; S11: Obtain the sensor loop signal data in the navigation control system; S12: Determine whether the update of the loop signal data times out. If the update of the loop signal data times out, read the next loop signal data and execute step S13; If the update of the loop signal data does not time out, determine whether the loop signal data is out of bounds. If the loop signal data is out of bounds, read the next loop signal data and execute step S13; If the loop signal data is not out of bounds, perform a BIT self-test on the loop signal data, read the next loop signal data, and execute step S13; S13: Determine whether the next loop signal data has been read. If it has not been read, execute step S11; If it has been read, complete the validity determination to obtain qualified redundant signals.

[0026] In some specific embodiments of the present invention, there are multiple signal sources for a certain loop signal in the navigation control system, and the number of signal sources is greater than or equal to 2.

[0027] By determining the validity of the redundant signal sources, including whether it times out, whether it exceeds the upper and lower limits, and whether the BIT self-test is qualified, etc., qualified signals are screened out, the interference of faulty signals to the system is excluded, and the reliability of the entire navigation control system is improved.

[0028] S2: Arrange multiple qualified redundant signals in ascending order of value, and determine the distribution of the qualified redundant signals based on the difference between the maximum value and the minimum value of the qualified redundant signals and Compare to determine the distribution of the qualified redundant signals; Arrange multiple qualified redundant signals in ascending order of value. The sorted qualified redundant signals are , If , then the redundant signals are distributed on both sides of the inflection point; , then the redundant signals are distributed on one side of the inflection point.

[0029] Among them, is the maximum value of the qualified redundant signals, is the minimum value of the qualified redundant signals, is the minimum value of the loopback signal, is the maximum value of the loopback signal, .

[0030] S3: If multiple qualified redundant signals are located on the same side, then the sorted qualified redundant signals form a redundant signal sequence; If multiple qualified redundant signals are located on both sides, then re - arrange the multiple qualified redundant signals to obtain a re - arranged redundant signal sequence; S31: Calculate the pairwise interval deviation of the sorted qualified redundant signals to obtain first deviations; The calculation expression of the first deviation is: Among them, is the first first deviation, is the minimum value of the loopback signal, is the maximum value of the loopback signal, is the th first deviation, is the th sorted qualified redundant signal, is the th sorted qualified redundant signal, is the number of qualified redundant signals.

[0031] S32: Select the maximum value among the first deviations to obtain the serial number of the maximum value of the first deviations. According to the serial number, use the bubble sort method to re - arrange the sorted qualified redundant signals to obtain a re - arranged redundant signal sequence.

[0032] The serial number of the maximum value of the first deviations is denoted as , the sorted qualified redundant signals shall be disconnected and re-sorted at Figure 3 as shown in move to the head of the sequence, move to the end of the sequence, and obtain the re-sorted sequence of redundant signals , is the sequence, where is the first data of the sequence, is the th data of the sequence, The calculation expression of is: where is the th sorted qualified redundant signal, is the

[0033] S4: Calculate the pairwise interval deviation of the redundant signal sequence or the re-sorted sequence of redundant signals, and store the data in the data heap according to the pairwise interval deviation; Calculating the pairwise interval deviation of the redundant signal sequence and storing the data in the data heap includes: S411: Calculate the pairwise interval deviation of the redundant signal sequence to obtain the second deviation; the calculation expression of the second deviation is: where is the th second deviation, is the th sorted qualified redundant signal.

[0034] S412: Create the first data heap and put the first data of the redundant signal sequence into the first data heap; S413: Compare the first second deviation with the allowable maximum deviation, if the first second deviation is greater than the allowable maximum deviation, create the second data heap; put the first data corresponding to the first second deviation into the second data heap, if the first second deviation is less than or equal to the allowable maximum deviation, put the first data corresponding to the first second deviation into the first data heap; The allowable maximum deviation is determined according to the sensitivity requirements of the system redundancy management and the measurement accuracy of the sensor; In some specific embodiments of the present invention, for the heading signal being 0.5° to 1.0° and the longitude being 0.01° to 0.1°, other loop signals can be determined according to the system fault tolerance requirements.

[0035] For different types of loop signals, such as heading signals and longitude signals, the maximum allowable deviation of the loop signal can be flexibly determined according to the sensitivity requirements of the system redundancy management and the measurement accuracy of the sensor. For example, the heading signal is preferably taken as 0.5° to 1.0°, the longitude is taken as 0.01° to 0.1°, and other loop signals can also be reasonably set according to the system fault tolerance requirements, enhancing the adaptability of the present invention to different systems.

[0036] S414: Use S413 to iteratively store the data in the subsequent redundant signal sequence.

[0037] Calculating the pairwise interval deviation of the redundant signal rearrangement sequence and storing the data in the data heap according to the pairwise interval deviation includes: S421: Calculate the pairwise interval deviation of the redundant signal rearrangement sequence to obtain the third deviation; the calculation expression of the third deviation is: Wherein, is the th third deviation, is the th data in the sequence; S422: Create the first data heap and put the first data of the redundant signal rearrangement sequence into the first data heap; S423: Compare the first third deviation with the maximum allowable deviation, if the first third deviation is greater than the maximum allowable deviation, create the second data heap; put the first data corresponding to the first third deviation into the second data heap, if the first third deviation is less than or equal to the maximum allowable deviation, put the first data corresponding to the first third deviation into the first data heap; S424: Use S423 to iteratively store the data in the subsequent redundant signal rearrangement sequence.

[0038] S5: Mark the qualified redundant signals as available or unavailable according to the amount of data loaded in the data heap; S51: Traverse the number of data in all data heaps and find the data heap with the largest number of data; S52: If there is only one data heap with the largest number of data, mark the redundancy status of all data in the data heap with the largest number of data as available; mark the redundancy status of all data in the remaining data heaps as unavailable; If there are two or more data heaps with the largest number of data, the redundancy status of all data is marked as unavailable.

[0039] During the data processing, marking the redundancy status of redundant signals according to the "principle of the minority obeying the majority" can effectively identify and adopt the majority of reliable signals, further ensuring the stable operation of the system.

[0040] S6: Traverse and calculate the deviation between the available signals and the turning point, and take the signal corresponding to the minimum absolute deviation as the output channel; If the redundancy status of all data is marked as unavailable, select the historical sensor value as the voting value output; If there is a redundancy status of data marked as available, traverse and calculate the deviation from the turning point, take the signal corresponding to the minimum absolute deviation as the selected channel, and output the signal of the selected channel as the voting value; The calculation expression for the absolute deviation between the available signal and the turning point is: Among them, is the absolute value function, is the available signal.

[0041] The present invention can accurately select the signal closest to the true value, thereby improving the accuracy of the voting value and making the decision-making and control of the navigation control system more accurate and reliable.

[0042] Such as Figure 2 As shown, a redundancy management device for sensor loop signals in a navigation control system, used to execute the above-mentioned redundancy management method for sensor loop signals in a navigation control system, includes: The validity discrimination module 101 discriminates the validity of the sensor loop signal data in the navigation control system to obtain a plurality of qualified redundant signals; The sorting module 102 sorts a plurality of qualified redundant signals in ascending order of numerical value, and determines the distribution of the qualified redundant signals according to the difference between the maximum value of the qualified redundant signals and the minimum value of the qualified redundant signals and comparison; The sequence obtaining module 103, if a plurality of qualified redundant signals are located on the same side, the sorted qualified redundant signals form a redundant signal sequence; If a plurality of qualified redundant signals are located on both sides, re-sort the plurality of qualified redundant signals to obtain a re-arranged redundant signal sequence; The data storage module 104 calculates the pairwise interval deviation of the redundant signal sequence or the re-arranged redundant signal sequence, and stores the data into the data heap according to the pairwise interval deviation; The marking module 105 marks the qualified redundant signals as available or unavailable according to the amount of data loaded in the data heap; The output module 106 traverses and calculates the deviation between the available signals and the turning points, and takes the channel signal corresponding to the minimum absolute deviation as the voting value output.

[0043] Through the collaborative work of the above modules, the redundancy management of the loop signals with any redundancy is realized, which can be widely applied to ship, civil aircraft control systems and multi-signal data fusion systems.

[0044] Example: Taking the five-redundancy loop heading signal as an example, the five-channel heading data are as follows: , , , , , the maximum allowable deviation is 1°, and the heading signal , , .

[0045] The five-redundancy heading data {359.8°, 0.1°, 0.2°, 358.6°, 359.7°} are all valid.

[0046] Sorted in ascending order of numerical value, the sorted sequence of qualified redundant signals is obtained {0.1°, 0.2°, 358.6°, 359.7°, 359.8°}. The largest number in the sequence is 359.8°, the smallest number is 0.1°, and the difference between the two is: 359.8° - 0.1° = 359.7° > , and the redundant signal sequence is distributed on both sides of the turning point, and re-sorting is required.

[0047] Calculate the deviation between every two intervals in the sequence to obtain first deviations, and find the maximum interval deviation.

[0048] Therefore, according to interval deviation, it can be known that the maximum interval deviation is , , then , the original sequence {0.1°, 0.2°, 358.6°, 359.7°, 359.8°} is exchanged and re-sorted to obtain The sequence {358.6°, 359.7°, 359.8°, 0.1°, 0.2°}.

[0049] Calculate The deviation between every two intervals of the sequence, and store the data in piles by classification; Calculate successively The deviation between every two intervals of the sequence and the maximum deviation allowed by the loop signal Compare, and store the sequence corresponding to the interval deviation in piles by classification.

[0050] Create the first data pile , and The first data of the sequence Put into the first data pile ; , therefore, , create , and Load into ; , therefore, , and Load into ; , therefore, , and Load into ; , therefore, , and Load into .

[0051] According to the amount of data loaded in the data pile, mark the redundancy signal redundancy status; Load into the pile , a total of 1 data; Load into the pile A total of 4 data, The pile has the most data, so The signal redundancy status is marked as "available", Marked as "unavailable".

[0052] Traverse and calculate the deviation between the "available" signal and the turning point, and output the voting value Calculate successively The absolute value deviation between the "available" signal and the turning point is 0.3, 0.2, 0.1, 0.2 respectively. The minimum value of the absolute value deviation from the turning point is 0.1, and the corresponding signal is 0.1°. Therefore, select the second channel signal X2 = 0.1° as the voting value output.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and 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 invention.

Claims

1. A redundancy management method for sensor loop signals in a navigation control system, characterized in that, Including: S1: Determine the validity of the sensor loop signal data in the navigation control system to obtain multiple qualified redundant signals; S2: Arrange multiple qualified redundant signals in ascending order of numerical value, and determine the distribution of qualified redundant signals based on the difference between the maximum value and the minimum value of the qualified redundant signals and comparison; S3: If multiple qualified redundant signals are located on the same side, the sorted qualified redundant signals form a redundant signal sequence; If multiple qualified redundant signals are located on both sides, then reorder the multiple qualified redundant signals to obtain a reordered sequence of redundant signals; S4: Calculate the pairwise interval deviation of the redundant signal sequence or the rearranged redundant signal sequence, and store the data in the data heap according to the pairwise interval deviation; S5: Mark the qualified redundant signals as available or unavailable according to the amount of data loaded in the data heap; S6: Traverse and calculate the deviation between the available signals and the turning point, and take the channel signal corresponding to the minimum absolute deviation as the voting value output.

2. The redundancy management method for the sensor loop signal in a navigation control system according to claim 1, characterized in that In step S1, S11: Obtain the sensor loop signal data in the navigation control system; S12: Determine whether the update of the loop signal data times out. If the update of the loop signal data times out, read the next loop signal data and execute step S13; If the update of the loop signal data does not time out, determine whether the loop signal data is out of bounds. If the loop signal data is out of bounds, read the next loop signal data and execute step S13; If the loop signal data is not out of bounds, perform a BIT self-test on the loop signal data, read the next loop signal data, and execute step S13; S13: Determine whether the next loop signal data has been read completely. If not, execute step S11; If it has been read completely, complete the validity determination to obtain qualified redundant signals.

3. A redundancy management method for sensor loop signals in a navigation control system according to claim 1, characterized in that, In step S3, obtaining the rearranged redundant signal sequence includes: S31: Calculate the pairwise interval deviation of the sorted qualified redundant signals to obtain first deviations; S32: Select the maximum value among the first deviations, obtain the serial number of the maximum value among the first deviations, and reorder the sorted qualified redundant signals according to the serial number by using the bubble sort method to obtain a redundant signal reorder sequence.

4. The redundancy management method for the sensor loop signal in a navigation control system according to claim 3, characterized in that In step S31, the calculation expression of the first deviation is: wherein, is the first first deviation, is the maximum value of the qualified redundant signal, is the minimum value of the qualified redundant signal, is the minimum value of the loopback signal, is the maximum value of the loopback signal, is the th first deviation, is the th sorted qualified redundant signal, is the th sorted qualified redundant signal, is the number of qualified redundant signals.

5. A redundancy management method for sensor loop signals in a navigation control system according to claim 1, characterized in that In step S4, calculating the pairwise interval deviation of the redundant signal sequence and storing the data in the data heap according to the pairwise interval deviation includes: S411: Calculate the pairwise interval deviation of the redundant signal sequence to obtain the second deviation; S412: Create the first data heap and put the first data of the redundant signal sequence into the first data heap; S413: Compare the first second deviation with the maximum allowable deviation, If the first second deviation is greater than the maximum allowable deviation, create the second data heap; put the first data corresponding to the first second deviation into the second data heap, If the first second deviation is less than or equal to the maximum allowable deviation, put the first data corresponding to the first second deviation into the first data heap; S414: Use S413 to iteratively store the data in the subsequent redundant signal sequence.

6. The redundancy management method for the sensor loop signal in a navigation control system according to claim 1, characterized in that, In step S4, calculating the pairwise interval deviation of the rearranged redundant signal sequence and storing the data in the data heap according to the pairwise interval deviation includes: S421: Calculate the pairwise interval deviation of the rearranged redundant signal sequence to obtain the third deviation; S422: Create the first data heap and put the first data of the rearranged redundant signal sequence into the first data heap; S423: Compare the first third deviation with the maximum allowable deviation, If the first third deviation is greater than the maximum allowable deviation, create the second data heap; put the first data corresponding to the first third deviation into the second data heap, If the first third deviation is less than or equal to the maximum allowable deviation, put the first data corresponding to the first third deviation into the first data heap; S424: Use S423 to iteratively store the data in the subsequent rearranged redundant signal sequence.

7. A redundancy management method for sensor loop signals in a navigation control system according to claim 1, characterized in that Step S5 includes: S51: Traverse the number of data in all data heaps and find the data heap with the largest number of data. S52: If there is only one data heap with the largest number of data, mark the redundancy status of all data in the data heap with the largest number of data as available; mark the redundancy status of all data in the remaining data heaps as unavailable. S53: If there are two or more data heaps with the largest number of data, mark the redundancy status of all data as unavailable.

8. A redundancy management method for sensor loop signals in a navigation control system according to claim 1, characterized in that, In step S6, if the redundancy status of all data is marked as unavailable, select the historical sensor value as the voted value for output; if there is a redundancy status of data marked as available, traverse and calculate the deviation from the turning point, and take the signal corresponding to the smallest absolute deviation as the selected channel, and output the signal of the selected channel as the voted value.

9. A redundancy management method for sensor loop signals in a navigation control system according to claim 5 or 6, wherein the maximum allowable deviation is determined according to the sensitivity requirements of the system redundancy management and the measurement accuracy of the sensor.

10. A redundancy management device for sensor loop signals in a navigation control system, characterized in that, For executing a redundancy management method for sensor loop signals in a navigation control system according to any one of claims 1 to 9, comprising: a validity discrimination module, which discriminates the validity of sensor loop signal data in the navigation control system to obtain a plurality of qualified redundant signals; Sorting module, which sorts multiple qualified redundant signals in ascending order of numerical value, and determines the distribution of the qualified redundant signals based on the comparison of the difference between the maximum value and the minimum value of the qualified redundant signals and comparison; Sequence acquisition module, if multiple qualified redundant signals are located on the same side, the sorted qualified redundant signals form a redundant signal sequence; If multiple qualified redundant signals are located on both sides, then reorder the multiple qualified redundant signals to obtain a reordered sequence of redundant signals; a data storage module, which calculates the pairwise interval deviation of the redundant signal sequence or the rearranged redundant signal sequence, and stores the data into data heaps according to the pairwise interval deviation; a marking module, which marks the qualified redundant signals as available and unavailable according to the amount of data loaded in the data heaps; an output module, which traverses and calculates the deviation of the available signals from the turning point, and takes the channel signal corresponding to the smallest absolute deviation as the voted value for output.

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