Redundancy management method and device for sensor loop signal in navigation control system

Abstract

The present invention relates to the field of navigation control system control technology, and provides a method and device for redundancy management of sensor loop signals in a navigation control system. The method comprises determining the validity of sensor loop signal data in the navigation control system, sorting them by numerical value, and determining the distribution of qualified redundant signals based on the difference between the maximum value of qualified redundant signals and the minimum value of qualified redundant signals and #imgabs0#; re-sorting the data if multiple qualified redundant signals are located on both sides of #imgabs1#; calculating pairwise interval deviations and storing the data in a data pile; marking qualified redundant signals based on the amount of data loaded into the data pile; traversing and calculating the deviation between available signals and return points, and taking the channel signal corresponding to the minimum absolute value of the deviation as the voting value for output. The present invention implements redundancy management for loop signals of arbitrary redundancy and can be widely used in ship and civil aircraft control systems and multi-signal data fusion systems.

Description

Technical Field

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

[0002] Modern ship and civil aircraft navigation control systems often encounter sensor measurement signals with recursive loops, such as a 0° (360°) recursion point for ship heading / heading, a 180° (-180°) recursion point for civil aircraft heading angle, and a 180° (-180°) recursion point for longitude. To ensure the reliability and safety of ocean-going missions, redundancy fault tolerance measures are implemented across the "perception-decision-making-control" system, and a hierarchical voting monitoring system is implemented for redundancy management.

[0003] Domestic scholars have also explored some corresponding solutions for the redundancy voting of the loop signal at the above-mentioned turning point. For example, Chinese patent number CN104677360 proposes a redundancy management algorithm for attitude and heading angles, which solves the problem of symbol jumps near the heading angle of 180° that traditional redundancy management algorithms cannot solve. However, this method is only applicable to the heading signal with a 180° jump in the flight control system. In the field of shipbuilding, the turning point becomes a heading angle of 0° (360°), and for sensor signals at other turning points. At the same time, for loop signals with arbitrary redundancy, the method is also difficult to directly apply when the number of signal sources is greater than or equal to 2. Summary of the Invention

[0004] The present invention aims to address at least one of the technical problems existing in the related art. To this end, the present invention provides a method and apparatus for managing the redundancy of sensor loop signals in a navigation control system. This method implements redundancy management of loop signals of arbitrary redundancy, with the number of signal sources being greater than or equal to two. The method can be widely applied to ship and civil aircraft control systems, as well as multi-signal data fusion systems.

[0005] The present invention provides a redundancy management method for sensor loop signals in a navigation control system, comprising:

[0006] S1: Validate the loopback signal data of sensors in the navigation control system to obtain multiple qualified redundant signals;

[0007] S2: Arrange multiple qualified redundant signals in ascending order of value, and calculate the difference between the maximum value of the qualified redundant signal and the minimum value of the qualified redundant signal. Compare and determine the distribution of qualified redundant signals;

[0008] S3: If multiple qualified redundant signals are located On the same side, the sorted qualified redundant signals constitute a redundant signal sequence;

[0009] If multiple qualified redundant signals are located in On both sides, multiple qualified redundant signals are reordered to obtain a redundant signal reordered sequence;

[0010] S4: Calculate the pairwise interval deviation of redundant signal sequences or redundant signal rearrangement sequences, and store the data into a data pile according to the pairwise interval deviation;

[0011] S5: Mark the qualified redundant signals as available or unavailable based on the amount of data loaded into the data pile;

[0012] S6: traverse and calculate the deviation between the available signal and the turning point, and take the channel signal corresponding to the minimum absolute value of the deviation as the voting value output.

[0013] Furthermore, in step S1,

[0014] S11: Acquire sensor loop signal data in the navigation control system;

[0015] S12: Determine whether the loop signal data update has timed out. If the loop signal data update has timed out, read the next loop signal data and execute step S13;

[0016] If the loopback signal data is updated within the time limit, determining whether the loopback signal data is out of bounds; if the loopback signal data is out of bounds, reading the next loopback signal data and executing step S13;

[0017] If the loopback signal data does not cross the boundary, the loopback signal data undergoes a BIT self-test, reads the next loopback signal data, and executes step S13;

[0018] S13: Determine whether the next loop signal data has been read. If not, execute step S11;

[0019] If the reading is completed, the validity judgment is completed and a qualified redundant signal is obtained.

[0020] Furthermore, in step S3, obtaining the redundant signal rearrangement sequence includes:

[0021] S31: Calculate the interval deviation of the qualified redundant signals after sorting, and obtain First deviation;

[0022] S32: Select The maximum value among the first deviations is obtained, and the serial number of the maximum value among the first deviations is obtained. The qualified redundant signals after sorting are reordered by using the bubble sort method according to the serial number to obtain a redundant signal rearrangement sequence.

[0023] Furthermore, in step S31, the calculation expression of the first deviation is:

[0024]

[0025] in, is the 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, For the The first deviation, For the sorted qualified redundant signals, For the sorted qualified redundant signals, is the number of qualified redundant signals.

[0026] Furthermore, in step S4, calculating the pairwise interval deviation of the redundant signal sequence and storing the data into the data pile according to the pairwise interval deviation includes:

[0027] S411: Calculate the pairwise interval deviation of the redundant signal sequence to obtain a second deviation;

[0028] S412: Create a first data pile, and put the first data of the redundant signal sequence into the first data pile;

[0029] S413: Compare the first second deviation with the maximum allowable deviation,

[0030] If the first second deviation is greater than the maximum allowable deviation, a second data pile is created; the first data corresponding to the first second deviation is placed in the second data pile.

[0031] If the first second deviation is less than or equal to the maximum allowable deviation, the first data corresponding to the first second deviation is placed into the first data pile;

[0032] S414: Use S413 to iteratively store data in subsequent redundant signal series.

[0033] Furthermore, in step S4, calculating the pairwise interval deviation of the redundant signal rearrangement sequence and storing the data into the data pile according to the pairwise interval deviation includes:

[0034] S421: Calculate the pairwise interval deviation of the redundant signal rearrangement sequence to obtain a third deviation;

[0035] S422: Create a first data pile, and put the first data of the redundant signal rearrangement sequence into the first data pile;

[0036] S423: Compare the first third deviation with the maximum allowable deviation,

[0037] If the first third deviation is greater than the maximum allowable deviation, create a second data pile; put the first data corresponding to the first third deviation into the second data pile,

[0038] If the first third deviation is less than or equal to the maximum allowable deviation, the first data corresponding to the first third deviation is placed into the first data pile;

[0039] S424: Use S423 to iteratively store the data in the subsequent redundant signal rearrangement sequence.

[0040] Furthermore, step S5 includes:

[0041] S51: traverse the number of data in all data piles and find the data pile with the largest number of data;

[0042] S52: If there is only one data pile with the largest number of data, mark the redundancy status of all data in the data pile with the largest number of data as available; and mark the redundancy status of all data in the remaining data piles as unavailable;

[0043] S53: If there are two or more data piles with the largest number of data, the redundancy status of all data is marked as unavailable.

[0044] Furthermore, in step S6,

[0045] If the redundancy status of all data is marked as unavailable, the historical sensor value is selected as the voting value output;

[0046] If the redundancy status of the existing data is marked as available, the deviation from the turning point is calculated traversally, and the signal corresponding to the minimum absolute value of the deviation is taken as the selected channel, and the signal of the selected channel is output as the voting value.

[0047] Furthermore, the maximum allowable deviation is determined according to the sensitivity requirement of system redundancy management and the measurement accuracy of the sensor.

[0048] The present invention further provides a redundancy management device for a sensor loopback signal in a navigation control system, for executing any of the above-mentioned redundancy management methods for a sensor loopback signal in a navigation control system, comprising:

[0049] A validity determination module, which performs validity determination on sensor loop signal data in the navigation control system to obtain multiple qualified redundant signals;

[0050] A sorting module is used to sort multiple qualified redundant signals in ascending order according to their numerical values, and to sort them according to the difference between the maximum value of the qualified redundant signal and the minimum value of the qualified redundant signal. Compare and determine the distribution of qualified redundant signals;

[0051] A sequence acquisition module, wherein if multiple qualified redundant signals are located in On the same side, the sorted qualified redundant signals constitute a redundant signal sequence;

[0052] If multiple qualified redundant signals are located in On both sides, multiple qualified redundant signals are reordered to obtain a redundant signal reordered sequence;

[0053] A data storage module, wherein the data storage module calculates the pairwise interval deviation of redundant signal sequences or redundant signal rearrangement sequences, and stores the data into a data pile according to the pairwise interval deviation;

[0054] a marking module, wherein the marking module marks qualified redundant signals as available or unavailable according to the amount of data loaded into the data pile;

[0055] The output module traverses and calculates the deviation between the available signal and the turning point, and takes the channel signal corresponding to the minimum absolute value of the deviation as the voting value output.

[0056] The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0057] The present invention overcomes the limitation of existing redundancy management algorithms that they are only applicable to specific signals (such as heading) and specific return jump points (180°). It can be widely used in ship and civil aircraft control systems and multi-signal data fusion systems, greatly expanding the application scope of redundancy management.

[0058] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0060] Figure 1 The present invention provides a flow chart of a method for managing the redundancy of a sensor loopback signal in a navigation control system.

[0061] Figure 2 The present invention provides a schematic structural diagram of a redundancy management device for sensor loop signals in a navigation control system.

[0062] Figure 3 2 is a schematic diagram of redundant signal reordering according to an embodiment of the present invention.

[0063] Reference numerals:

[0064] 101. Validity judgment module; 102. Sorting module; 103. Sequence acquisition module; 104. Data storage module; 105. Marking module; 106. Output module. DETAILED DESCRIPTION

[0065] To make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0066] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiment of the present invention. In this specification, the schematic representations 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 any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0067] The following combination Figures 1 to 3 The present invention describes a method and device for redundancy management of sensor loopback signals in a navigation control system.

[0068] like Figure 1 As shown, a redundancy management method for sensor loop signals in a navigation control system includes:

[0069] S1: Validate the loopback signal data of sensors in the navigation control system to obtain multiple qualified redundant signals;

[0070] S11: Acquire sensor loop signal data in the navigation control system;

[0071] S12: Determine whether the loop signal data update has timed out. If the loop signal data update has timed out, read the next loop signal data and execute step S13;

[0072] If the loopback signal data is updated within the time limit, determining whether the loopback signal data is out of bounds; if the loopback signal data is out of bounds, reading the next loopback signal data and executing step S13;

[0073] If the loopback signal data does not cross the boundary, the loopback signal data undergoes a BIT self-test, reads the next loopback signal data, and executes step S13;

[0074] S13: Determine whether the next loop signal data has been read. If not, execute step S11;

[0075] If the reading is completed, the validity judgment is completed and a qualified redundant signal is obtained.

[0076] In some specific embodiments of the present invention, a certain loop signal in the navigation control system has multiple signal sources, and the number of the signal sources is greater than or equal to 2.

[0077] By judging the validity of redundant signal sources, including whether they have timed out, whether they have exceeded upper and lower limits, and whether the BIT self-test has passed, qualified signals are screened out, eliminating the interference of fault signals on the system and improving the reliability of the entire navigation control system.

[0078] S2: Arrange multiple qualified redundant signals in ascending order of value, and calculate the difference between the maximum value of the qualified redundant signal and the minimum value of the qualified redundant signal. Compare and determine the distribution of qualified redundant signals;

[0079] Multiple qualified redundant signals are arranged in ascending order according to their numerical values. The qualified redundant signals after sorting are: ,

[0080] like , then the redundant signals are distributed on both sides of the half point;

[0081] , the redundant signal is distributed on one side of the half point.

[0082] in, 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, .

[0083] S3: If multiple qualified redundant signals are located On the same side, the sorted qualified redundant signals constitute a redundant signal sequence;

[0084] If multiple qualified redundant signals are located in On both sides, multiple qualified redundant signals are reordered to obtain a redundant signal reordered sequence;

[0085] S31: Calculate the interval deviation of the qualified redundant signals after sorting, and obtain First deviation;

[0086] The calculation expression of the first deviation is:

[0087]

[0088] in, is the first deviation, is the minimum value of the loopback signal, is the maximum value of the loopback signal, For the The first deviation, For the sorted qualified redundant signals, For the sorted qualified redundant signals, is the number of qualified redundant signals.

[0089] S32: Select The maximum value among the first deviations is obtained, and the serial number of the maximum value among the first deviations is obtained. The qualified redundant signals after sorting are reordered by using the bubble sort method according to the serial number to obtain a redundant signal rearrangement sequence.

[0090] The sequence number of the maximum value in the first deviation is recorded as , the qualified redundant signals after sorting should be Reorder the disconnected Figure 3 As shown, using the bubble sort method, Move to the beginning of the sequence, Move to the end of the sequence to obtain redundant signals and rearrange the sequence , for A sequence of numbers, where for The first data in the sequence, for The first data, The calculation expression is:

[0091]

[0092] in, For the sorted qualified redundant signals, For the A sorted qualified redundant signal.

[0093] S4: Calculate the pairwise interval deviation of redundant signal sequences or redundant signal rearrangement sequences, and store the data into a data pile according to the pairwise interval deviation;

[0094] Calculating the pairwise interval deviation of redundant signal sequences and storing the data into a data pile according to the pairwise interval deviation includes:

[0095] S411: Calculate the pairwise interval deviation of the redundant signal sequence to obtain a second deviation; the calculation expression of the second deviation is:

[0096]

[0097] in, For the The second deviation, For the A sorted qualified redundant signal.

[0098] S412: Create a first data pile, and put the first data of the redundant signal sequence into the first data pile;

[0099] S413: Compare the first second deviation with the maximum allowable deviation,

[0100] If the first second deviation is greater than the maximum allowable deviation, a second data pile is created; the first data corresponding to the first second deviation is placed in the second data pile.

[0101] If the first second deviation is less than or equal to the maximum allowable deviation, the first data corresponding to the first second deviation is placed into the first data pile;

[0102] The maximum allowable deviation is determined by the sensitivity requirements of the system redundancy management and the measurement accuracy of the sensor;

[0103] In some specific embodiments of the present invention, the heading signal is 0.5° to 1.0°, the longitude is 0.01° to 0.1°, and other loop signals can be determined according to the system fault tolerance requirements.

[0104] For different types of loopback signals, such as heading and longitude, the maximum allowable deviation can be flexibly determined based on the sensitivity requirements of system redundancy management and the measurement accuracy of the sensor. For example, a maximum deviation of 0.5° to 1.0° is recommended for heading signals, and 0.01° to 0.1° for longitude. Other loopback signals can also be appropriately set based on system fault tolerance requirements, enhancing the adaptability of the present invention to different systems.

[0105] S414: Use S413 to iteratively store data in subsequent redundant signal series.

[0106] Calculating the pairwise interval deviation of the redundant signal rearrangement sequence and storing the data into the data pile according to the pairwise interval deviation includes:

[0107] S421: Calculate the pairwise interval deviation of the redundant signal rearrangement sequence to obtain a third deviation; the calculation expression of the third deviation is:

[0108]

[0109] in, For the The third deviation, for Sequence No. individual data;

[0110] S422: Create a first data pile, and put the first data of the redundant signal rearrangement sequence into the first data pile;

[0111] S423: Compare the first third deviation with the maximum allowable deviation,

[0112] If the first third deviation is greater than the maximum allowable deviation, create a second data pile; put the first data corresponding to the first third deviation into the second data pile,

[0113] If the first third deviation is less than or equal to the maximum allowable deviation, the first data corresponding to the first third deviation is placed into the first data pile;

[0114] S424: Use S423 to iteratively store the data in the subsequent redundant signal rearrangement sequence.

[0115] S5: Mark the qualified redundant signals as available or unavailable based on the amount of data loaded into the data pile;

[0116] S51: traverse the number of data in all data piles and find the data pile with the largest number of data;

[0117] S52: If there is only one data pile with the largest number of data, mark the redundancy status of all data in the data pile with the largest number of data as available; and mark the redundancy status of all data in the remaining data piles as unavailable;

[0118] If there are two or more data piles with the largest number of data, the redundancy status of all data will be marked as unavailable.

[0119] During the data processing process, the redundant signal redundancy status is marked according to the "minority obeys majority principle", which can effectively identify and adopt the majority of reliable signals, further ensuring the stable operation of the system.

[0120] S6: traverse and calculate the deviation between the available signal and the turning point, and take the signal corresponding to the minimum absolute value of the deviation as the output channel;

[0121] If the redundancy status of all data is marked as unavailable, the historical sensor value is selected as the voting value output;

[0122] If the redundancy status of the data is marked as available, the deviation from the turning point is calculated traversally, and the signal corresponding to the minimum absolute value of the deviation is taken as the selected channel, and the signal of the selected channel is output as the voting value;

[0123] The calculation expression of the absolute deviation between the available signal and the turning point is:

[0124]

[0125] in, To find the absolute value function, Available signal.

[0126] 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 and control of the navigation control system more accurate and reliable.

[0127] like Figure 2 As shown, a redundancy management device for a sensor loopback signal in a navigation control system is used to execute the above-mentioned redundancy management method for a sensor loopback signal in a navigation control system, comprising:

[0128] The validity determination module 101 performs validity determination on the sensor loop signal data in the navigation control system to obtain multiple qualified redundant signals;

[0129] The sorting module 102 arranges the plurality of qualified redundant signals in ascending order according to the value, and sorts the qualified redundant signals according to the difference between the maximum value of the qualified redundant signal and the minimum value of the qualified redundant signal. Compare and determine the distribution of qualified redundant signals;

[0130] If the sequence acquisition module 103 has multiple qualified redundant signals located at On the same side, the sorted qualified redundant signals constitute a redundant signal sequence;

[0131] If multiple qualified redundant signals are located in On both sides, multiple qualified redundant signals are reordered to obtain a redundant signal reordered sequence;

[0132] The data storage module 104 calculates the pairwise interval deviation of the redundant signal sequence or the redundant signal rearrangement sequence, and stores the data into a data pile according to the pairwise interval deviation;

[0133] The marking module 105 marks the qualified redundant signals as available or unavailable according to the amount of data loaded into the data pile;

[0134] The output module 106 traverses and calculates the deviation between the available signal and the turning point, and takes the channel signal corresponding to the minimum absolute value of the deviation as the voting value for output.

[0135] Through the coordinated work of the above modules, redundancy management of loop signals with arbitrary redundancy can be achieved, which can be widely used in ship and civil aircraft control systems and multi-signal data fusion systems.

[0136] Example:

[0137] Taking a five-degree loop heading signal as an example, the five-channel heading data are: , , , , , the maximum allowable deviation is 1°, the heading signal , , .

[0138] The five redundant degrees of heading data {359.8°, 0.1°, 0.2°, 358.6°, 359.7°} are all valid.

[0139] Sorting by numerical value in ascending order, we get the sorted qualified redundant signal sequence {0.1°, 0.2°, 358.6°, 359.7°, 359.8°}. The largest number in the sequence is 359.8°, and the smallest number is 0.1°. The difference between the two is: 359.8° - 0.1° = 359.7°> , the redundant signal series are distributed on both sides of the half point and need to be re-sorted.

[0140] Calculate the pairwise interval deviation in the sequence and obtain First deviation, find the maximum interval deviation.

[0141]

[0142]

[0143]

[0144]

[0145]

[0146] Therefore, according to Interval deviation, it can be seen that the maximum interval deviation is , ,but , the original sequence {0.1°, 0.2°, 358.6°, 359.7°, 359.8°} is exchanged and reordered to obtain The sequence is {358.6°, 359.7°, 359.8°, 0.1°, 0.2°}.

[0147] calculate The interval deviation between two sequences is used to store data in piles;

[0148] Calculate in sequence The deviation between the two intervals of the sequence and the maximum deviation allowed by the loop signal Compare and store the series corresponding to the interval deviation in piles.

[0149] Create the first data pile ,Will The first data in the sequence Put into the first data pile ;

[0150] ,therefore, ,create , and load middle;

[0151] ,therefore, ,Will load middle;

[0152] ,therefore, ,Will load middle;

[0153] ,therefore, ,Will load middle.

[0154] According to the amount of data loaded into the data pile, the redundant signal redundancy status is marked;

[0155] Loading into the heap , a total of 1 data; Loading into the heap A total of 4 data, The heap has the most data, so The signal margin status is marked as "available", Marked as "unavailable".

[0156] Traverse and calculate the deviation between the "available" signal and the return point, and output the voting value

[0157] Calculate in sequence The absolute value deviations of the "usable" signal from the turning point are 0.3, 0.2, 0.1, and 0.2, respectively. The minimum absolute value deviation from the turning point is 0.1, corresponding to a signal of 0.1°. Therefore, the second channel signal X2 = 0.1° is selected as the voting value output.

[0158] 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 aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A redundancy management method for sensor loop signals in a navigation control system, characterized in that: include: S1: Validate the loopback signal data of sensors in the navigation control system to obtain multiple qualified redundant signals; S2: Arrange multiple qualified redundant signals in ascending order of value, and calculate the difference between the maximum value of the qualified redundant signal and the minimum value of the qualified redundant signal. Compare and determine the distribution of qualified redundant signals. The turning point refers to the point in the navigation control system where the sensor measurement signal shows a turning-back loop characteristic at a specific value; S3: If multiple qualified redundant signals are located On the same side, the sorted qualified redundant signals constitute a redundant signal sequence; If multiple qualified redundant signals are located in On both sides, multiple qualified redundant signals are reordered to obtain a redundant signal reordered sequence; S4: Calculate the pairwise interval deviation of redundant signal sequences or redundant signal rearrangement sequences, and store the data into a data pile according to the pairwise interval deviation; S5: Mark the qualified redundant signals as available or unavailable based on the amount of data loaded into the data pile; S6: traverse and calculate the deviation between the available signal and the turning point, and take the channel signal corresponding to the minimum absolute value of the deviation as the voting value output.

2. The redundancy management method of sensor loop signals in a navigation control system according to claim 1, characterized in that: In step S1, S11: Acquire sensor loop signal data in the navigation control system; S12: Determine whether the loop signal data update has timed out. If the loop signal data update has timed out, read the next loop signal data and execute step S13; If the loopback signal data is updated within the time limit, determining whether the loopback signal data is out of bounds; if the loopback signal data is out of bounds, reading the next loopback signal data and executing step S13; If the loopback signal data does not cross the boundary, the loopback signal data undergoes a BIT self-test, reads the next loopback signal data, and executes step S13; S13: Determine whether the next loop signal data has been read. If not, execute step S11; If the reading is completed, the validity judgment is completed and a qualified redundant signal is obtained.

3. The redundancy management method of sensor loop signals in a navigation control system according to claim 1, characterized in that: In step S3, obtaining the redundant signal rearrangement sequence includes: S31: Calculate the interval deviation of the qualified redundant signals after sorting, and obtain First deviation; S32: Select The maximum value among the first deviations is obtained, and the serial number of the maximum value among the first deviations is obtained. The qualified redundant signals after sorting are reordered by using the bubble sort method according to the serial number to obtain a redundant signal rearrangement sequence.

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

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

6. The redundancy management method of 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 rearrangement sequence and storing the data into the data pile according to the pairwise interval deviation includes: S421: Calculate the pairwise interval deviation of the redundant signal rearrangement sequence to obtain a third deviation; S422: Create a first data pile, and put the first data of the redundant signal rearrangement sequence into the first data pile; S423: Compare the first third deviation with the maximum allowable deviation, If the first third deviation is greater than the maximum allowable deviation, create a second data pile; put the first data corresponding to the first third deviation into the second data pile, If the first third deviation is less than or equal to the maximum allowable deviation, the first data corresponding to the first third deviation is placed into the first data pile; S424: Use S423 to iteratively store the data in the subsequent redundant signal rearrangement sequence.

7. The redundancy management method of sensor loopback 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 piles and find the data pile with the largest number of data; S52: If there is only one data pile with the largest number of data, mark the redundancy status of all data in the data pile with the largest number of data as available; and mark the redundancy status of all data in the remaining data piles as unavailable; S53: If there are two or more data piles with the largest number of data, the redundancy status of all data is marked as unavailable.

8. The redundancy management method of 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, the historical sensor value is selected as the voting value output; If the redundancy status of the existing data is marked as available, the deviation from the turning point is calculated traversally, and the signal corresponding to the minimum absolute value of the deviation is taken as the selected channel, and the signal of the selected channel is output as the voting value.

9. The method for redundancy management of sensor loop signals in a navigation control system according to claim 5 or 6, wherein the maximum allowable deviation is determined based on 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: A method for redundancy management of a sensor loop signal in a navigation control system according to any one of claims 1 to 9, comprising: A validity determination module, which performs validity determination on sensor loop signal data in the navigation control system to obtain multiple qualified redundant signals; A sorting module is used to sort multiple qualified redundant signals in ascending order according to their numerical values, and to sort them according to the difference between the maximum value of the qualified redundant signal and the minimum value of the qualified redundant signal. Compare and determine the distribution of qualified redundant signals; A sequence acquisition module, wherein if multiple qualified redundant signals are located in On the same side, the sorted qualified redundant signals constitute a redundant signal sequence; If multiple qualified redundant signals are located in On both sides, multiple qualified redundant signals are reordered to obtain a redundant signal reordered sequence; A data storage module, wherein the data storage module calculates the pairwise interval deviation of redundant signal sequences or redundant signal rearrangement sequences, and stores the data into a data pile according to the pairwise interval deviation; a marking module, wherein the marking module marks qualified redundant signals as available or unavailable according to the amount of data loaded into the data pile; The output module traverses and calculates the deviation between the available signal and the turning point, and takes the channel signal corresponding to the minimum absolute value of the deviation as the voting value output.

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