Fault synchronous monitoring method and system of redundancy flight control computer

Abstract

The invention relates to the technical field of flight control computer fault monitoring, and discloses a fault synchronous monitoring method and system for a redundancy flight control computer, and the monitoring system comprises a data synchronous collection unit, a fault analysis processing unit, a monitoring path generator and a monitoring terminal. The data synchronous acquisition unit configures a corresponding number of data acquisition channels according to the redundancy number of the flight control computer to synchronously acquire sensor data of the flight control computer under the simulated flight working condition; the fault analysis processing unit comprises a data reading module, a threshold judgment module and a marking module, and is used for marking the sensor data as normal or abnormal, so that fault data can be found in time; and the monitoring path generator calculates the fault rate of each data acquisition channel, the data acquisition channel with the fault rate lower than a preset detection standard is used as a monitoring path, and the monitoring path uploads the sensor data marked as abnormal to the monitoring terminal for storage, so that the specific position and reason of the fault can be accurately positioned.

Description

Technical Field

[0001] The present invention relates to the technical field of flight control computer fault monitoring, and specifically to a fault synchronization monitoring method and system for a redundant flight control computer. Background Art

[0002] As the core part of the flight control system, the reliability of the flight control computer is directly related to whether the flight control system can work properly. At present, redundant design can improve the reliability of the system, but in some cases, it is difficult to accurately locate the specific location and cause of the fault. For example, when the data is interfered during the data transmission process, resulting in abnormal final monitoring data, it may be impossible to accurately distinguish whether the fault is caused by the measured component or the processor, thus affecting the rapid troubleshooting of the fault. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a fault synchronization monitoring method and system for a redundant flight control computer to solve the technical problems mentioned in the prior art.

[0004] A fault synchronization monitoring system for a redundant flight control computer, the monitoring system includes:

[0005] A data synchronization acquisition unit, which configures a corresponding number of data acquisition channels according to the redundancy number of the flight control computer to synchronously acquire sensor data of the flight control computer under simulated flight conditions;

[0006] A fault analysis and processing unit, the fault analysis and processing unit includes a data reading module, a threshold judgment module and a marking module. The data reading module is configured to: read the sensor data collected by the data acquisition channels according to a preset monitoring mechanism, where the monitoring mechanism is set as: the data reading module selects to access at least two of the data acquisition channels to read the sensor data; the threshold judgment module is configured to: judge whether each sensor data is within the normal range based on a preset monitoring threshold range; the marking module is configured to: mark the sensor data within the monitoring threshold range as normal, and mark the sensor data exceeding the monitoring threshold range as abnormal;

[0007] A monitoring path generator, which is used to calculate the failure rate of each data acquisition channel, and use the data acquisition channels with a failure rate lower than the preset detection standard as the monitoring path, and the monitoring path uploads the sensor data marked as abnormal to the monitoring terminal for storage.

[0008] Optionally, the sensor includes at least one or more of an attitude sensor, a speed sensor and a current sensor.

[0009] Optionally, the data acquisition channel is configured with a plurality of data acquisition interfaces to synchronously acquire different types of sensor data.

[0010] Optionally, the system further includes a data preprocessing module, which is configured to: receive the sensor data collected by each of the data acquisition channels, retrieve the unique number of the data acquisition interface corresponding to the sensor data from the database, convert the number into a position identification code in string form, and store the position identification code and the sensor data associated according to the sensor type into a configuration file.

[0011] Optionally, the database configures a unique SQL query statement for each of the data acquisition interfaces;

[0012] The data preprocessing module stores a query program. When the data preprocessing module receives the sensor data collected by any one of the data acquisition channels, it triggers the query program to execute the set query logic; the set query logic is set to: execute the SQL query statement to obtain the number of the corresponding data acquisition interface and the sensor data, traverse the query results, convert the number of the data acquisition interface into a position identification code in string form, and save them in one-to-one correspondence with the sensor data to the configuration file.

[0013] Optionally, the monitoring path generator performs a priority sorting on multiple data acquisition interfaces in a decreasing order based on the monitoring levels set by the sensors, and selects the monitoring path with the smallest failure rate or all the monitoring paths from all the monitoring paths corresponding to each data acquisition interface, and uploads the sensor data marked as abnormal corresponding thereto to the monitoring terminal in sequence according to the priority order.

[0014] Optionally, the monitoring terminal stores a self-check program. When the monitoring terminal receives the sensor data marked as abnormal uploaded by at least two monitoring paths of any one of the data acquisition interfaces within the monitoring period, it triggers the self-check program to execute the set self-check logic; the set self-check logic is set to: compare whether the sensor data marked as abnormal uploaded by at least two monitoring paths of any one of the data acquisition interfaces received by the monitoring terminal is consistent;

[0015] If they are consistent, it is determined that all the monitoring paths are normal, and the sensor data uploaded by any one of the monitoring paths is selected as the fault information and saved;

[0016] If they are inconsistent, it is determined that at least one of the monitoring paths is abnormal, the sensor data uploaded by all the monitoring paths is saved, and an alarm signal is triggered to be sent by the alarm.

[0017] A fault synchronization monitoring method for a redundant flight control computer, the monitoring method is applied to the monitoring system described above, and the monitoring method includes the following steps:

[0018] S1. Data synchronization and acquisition: Configure the corresponding number of data acquisition channels according to the redundancy quantity of the flight control computer to synchronously acquire the sensor data of the flight control computer under simulated flight conditions;

[0019] S2. Fault analysis and processing: Read the sensor data collected by the data acquisition channels according to a preset monitoring mechanism, and based on a preset monitoring threshold range, determine whether each sensor data is within the normal range. Mark the sensor data within the monitoring threshold range as normal, and mark the sensor data outside the monitoring threshold range as abnormal;

[0020] S3. Abnormal data storage: Calculate the failure rate of each data acquisition channel, use the data acquisition channels with a failure rate lower than the preset detection standard as the monitoring paths, and upload the sensor data marked as abnormal to the monitoring terminal for storage.

[0021] Optionally, in S1, the method further includes preprocessing the sensor data collected by the data acquisition channels. The preprocessing method specifically includes:

[0022] Receive the sensor data collected by each data acquisition channel, retrieve the unique number corresponding to the data acquisition interface of the sensor data from the database, convert the number into a position identification code in string form, and associate the position identification code with the sensor data according to the sensor type and store them in the configuration file.

[0023] Optionally, in S3, the method further includes self-checking the sensor data marked as abnormal received by the monitoring terminal. The self-checking method specifically includes:

[0024] During the monitoring period, when the monitoring terminal receives at least two paths of sensor data marked as abnormal uploaded from any one of the data acquisition interfaces, trigger the self-checking program to execute the set self-checking logic to compare whether the at least two paths of sensor data marked as abnormal uploaded from any one of the data acquisition interfaces received by the monitoring terminal are consistent;

[0025] If they are consistent, determine that all the monitoring paths are normal, select the sensor data uploaded from any one of the monitoring paths as the fault information, and save it;

[0026] If they are inconsistent, determine that at least one of the monitoring paths is abnormal, save the sensor data uploaded from all the monitoring paths, and trigger the alarm to send an alarm signal.

[0027] The beneficial effects that the present invention can produce include:

[0028] 1. In the present invention, the data synchronization acquisition unit configures corresponding data acquisition channels according to the redundancy quantity of the flight control computer, and can synchronously acquire various sensor data. Meanwhile, the data reading module of the fault analysis and processing unit reads the sensor data by selectively accessing at least two data acquisition channels, enabling the monitoring path generator to calculate the failure rate of each data acquisition channel, select the data acquisition channels with failure rates lower than the preset detection standard as the monitoring paths to upload abnormal data, which can eliminate the possibility of abnormal sensor data caused by the failure of the data acquisition channels, and helps to accurately locate the specific position and cause of the fault. Moreover, by pre-screening the data acquisition channels, the data acquired by the data acquisition channels with stable acquisition performance can be selected for analysis and processing, avoiding misjudgment and improving the monitoring accuracy.

[0029] 2. In the present invention, the threshold judgment module judges in real time whether each sensor data is normal, and the marking module marks the sensor data as normal or abnormal, which can timely detect the fault data. Meanwhile, the data preprocessing module converts the number of the data acquisition interface into a position identification code, and associates it with the sensor data and stores it in the configuration file, facilitating the monitoring personnel to accurately locate the position of the abnormal sensor data according to the position identification code and quickly find the faulty sensor when multiple sensors fail.

[0030] 3. In the present invention, by setting a self-check program, when the monitoring terminal receives abnormal sensor data uploaded by at least two monitoring paths, the self-check logic can be automatically triggered. By comparing whether the data is consistent, it can be judged whether the monitoring path is normal, process the abnormal situation and send out an alarm signal to prompt the monitoring personnel to conduct a check, which helps to optimize the system in real time, improve the monitoring accuracy of the sensor data, and provide strong support for analyzing the fault position and cause of the flight control computer. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a structural block diagram of a fault synchronous monitoring system for a redundant flight control computer of the present invention;

[0032] Figure 2 is a schematic flow chart of a fault synchronous monitoring method for a redundant flight control computer of the present invention;

[0033] In the figure: 1. Data synchronization acquisition unit, 2. Fault analysis and processing unit, 21. Data reading module, 22. Threshold judgment module, 23. Marking module, 3. Monitoring path generator, 4. Monitoring terminal, 5. Alarm. DETAILED DESCRIPTION OF THE INVENTION

[0034] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] Please refer to Figure 1 As shown, the present invention provides a fault synchronization monitoring system for a redundant flight control computer. The monitoring system includes a data synchronization acquisition unit 1, a fault analysis and processing unit 2, a monitoring path generator 3, and a monitoring terminal 4. Among them, the data synchronization acquisition unit 1 configures a corresponding number of data acquisition channels according to the redundancy number of the flight control computer to synchronously acquire sensor data of the flight control computer under simulated flight conditions. The sensors include at least one or more of an attitude sensor, a speed sensor, and a current sensor. Each data acquisition channel is configured with multiple data acquisition interfaces to synchronously acquire different types of sensor data, realizing synchronous monitoring of multiple groups of sensor data, and greatly improving the timeliness of data monitoring. The fault analysis and processing unit 2 includes a data reading module 21, a threshold judgment module 22, and a marking module 23. The data reading module 21 is configured to: read the sensor data acquired by the data acquisition channels according to a preset monitoring mechanism, where the monitoring mechanism is set as: the data reading module 21 selects to access at least two data acquisition channels and reads multiple groups of sensor data, so as to pre-screen the data acquisition channels. Through the screening, the sensor data acquired by the data acquisition channels with stable acquisition performance can be selected for subsequent analysis and processing, effectively avoiding misjudgment and improving the monitoring accuracy of the system. The threshold judgment module 22 is configured to: judge whether each sensor data is within the normal range based on a preset monitoring threshold range; the marking module 23 is configured to: mark the sensor data within the monitoring threshold range as normal, and mark the sensor data exceeding the monitoring threshold range as abnormal; the monitoring path generator 3 is used to calculate the failure rate of each data acquisition channel, and use the data acquisition channels with a failure rate lower than the preset detection standard as the monitoring path. The monitoring path uploads the sensor data marked as abnormal to the monitoring terminal 4 for storage;

[0036]

[0037] In the above, when uploading the monitored abnormal sensor data, first use multiple groups of sensor data to train the data acquisition channels, so as to obtain the failure rate of each data acquisition channel to analyze whether there is a fault in the corresponding data acquisition channel, and then select the data acquisition channels with a failure rate lower than the detection standard as the monitoring path, so as to quickly eliminate the possibility of abnormal sensor data caused by the failure of the data acquisition channels, and facilitate accurate positioning of the specific location and cause of the fault.

[0038] Further, the system further includes a data preprocessing module, which is configured to: receive the sensor data collected by each data acquisition channel, retrieve the unique number of the data acquisition interface corresponding to the sensor data from the database, convert the number into a position identification code in string form, and associate the position identification code with the sensor data according to the sensor type and store them in a configuration file. Specifically, the database configures a unique SQL query statement for each data acquisition interface; the data preprocessing module stores a query program. When the data preprocessing module receives the sensor data collected by any one of the data acquisition channels, it triggers the query program to execute the set query logic; the set query logic is set to: execute the SQL query statement to obtain the number of the corresponding data acquisition interface and the sensor data, traverse the query results, convert the number of the data acquisition interface into a position identification code in string form, and save them in one-to-one correspondence with the sensor data to the configuration file. At this time, when multiple sensors fail simultaneously, the monitoring personnel can accurately locate the positions of the sensor data marked as abnormal based on the position identification code.

[0039] In the above, to improve the transmission accuracy and efficiency during the synchronous processing of multiple groups of sensor data, the monitoring path generator 3 performs a priority sorting on multiple data acquisition interfaces in a decreasing order based on the set monitoring levels of the sensors, and selects the monitoring path with the lowest failure rate or all the monitoring paths from all the monitoring paths corresponding to each data acquisition interface, and uploads the corresponding sensor data marked as abnormal to the monitoring terminal 4 in sequence according to the priority order, effectively avoiding the phenomenon of disorder during the transmission of sensor data.

[0040] In the above, to further improve the acquisition accuracy of the data acquisition channels, the monitoring terminal 4 stores a self-check program. When the monitoring terminal 4 receives the sensor data marked as abnormal uploaded by at least two monitoring paths of any one data acquisition interface during the monitoring period, it triggers the self-check program to execute the set self-check logic; the set self-check logic is set to: compare whether the sensor data marked as abnormal uploaded by at least two monitoring paths of any one data acquisition interface received by the monitoring terminal 4 is consistent; if it is consistent, it is determined that all the monitoring paths are normal, and the sensor data uploaded by any one monitoring path is selected as the fault information and saved; if it is not consistent, it is determined that at least one monitoring path is abnormal, the sensor data uploaded by all the monitoring paths is saved, and the alarm 5 is triggered to send an alarm signal to remind the monitoring personnel to check the monitoring paths.

[0041] As Figure 2 shown, the present invention also provides a fault synchronous monitoring method for a redundant flight control computer. This monitoring method is applied to the above system, and the monitoring method includes the following steps:

[0042] Step 1: Data Synchronous Acquisition: Configure the corresponding number of data acquisition channels according to the redundancy number of the flight control computer to synchronously acquire the sensor data of the flight control computer under simulated flight conditions. Among them, to ensure that when multiple sensor data fail simultaneously, the position of the faulty sensor data can be quickly and accurately located, it is necessary to preprocess the sensor data collected by the data acquisition channels. The preprocessing method is as follows: Receive the sensor data collected by each data acquisition channel, retrieve the unique number corresponding to the data acquisition interface of the sensor data from the database, convert the number into a position identification code in string form, and associate the position identification code with the sensor data according to the sensor type and store it in the configuration file. In this way, based on the abnormal sensor data, the corresponding position identification code can be indexed from the configuration file, and then according to the unique code associated between the position identification code and the data acquisition interface, the fault location of the sensor data can be quickly found.

[0043] Step 2: Fault Analysis and Processing: Read the sensor data collected by the data acquisition channels according to the preset monitoring mechanism, and based on the preset monitoring threshold range, judge whether each sensor data is within the normal range. Mark the sensor data within the monitoring threshold range as normal, and mark the sensor data outside the monitoring threshold range as abnormal.

[0044] Step 3: Abnormal Data Storage: Calculate the failure rate of each data acquisition channel, use the data acquisition channels with a failure rate lower than the preset detection standard (failure rate lower than 0.1%) as the monitoring path, and upload the marked abnormal sensor data to the monitoring terminal 4 for storage;

[0045]

[0046] Before the monitoring terminal 4 saves the abnormal sensor data, it is necessary to perform self-check on the sensor data marked as abnormal. The self-check method is as follows: within the monitoring period, when the monitoring terminal 4 receives the sensor data marked as abnormal uploaded by at least two monitoring paths of any one data acquisition interface, it triggers the self-check program to execute the set self-check logic to compare whether the sensor data marked as abnormal uploaded by at least two monitoring paths of any one data acquisition interface received by the monitoring terminal 4 is consistent; if it is consistent, it is determined that all monitoring paths are normal, and the sensor data uploaded by any one monitoring path is selected as the fault information and saved; if it is inconsistent, it is determined that at least one monitoring path is abnormal, the sensor data uploaded by all monitoring paths is saved, and the alarm 5 is triggered to send an alarm signal to prompt the monitoring personnel to check the monitoring path, so as to use the sensor data uploaded by the monitoring path confirmed to be normal after the check as the fault information of the sensor, and then solve the fault problem contained in the sensor data based on the fault information. This self-check method can not only optimize the system in real time, but also improve the monitoring accuracy of sensor data, which is helpful for detailed analysis of the fault location and cause of the redundant flight control computer.

[0047] Embodiment 1:

[0048] For the fault monitoring of the flight control system of a certain model of fighter plane, the fighter plane adopts a redundant flight control computer system to ensure flight safety and reliability. During the flight mission, the flight control system needs to monitor various sensor data in real time to ensure that parameters such as the attitude and speed of the plane are within the normal range. It is equipped with a redundant flight control computer fault monitoring system based on the ARINC659 bus. The system configures multiple data acquisition channels according to the redundancy number of the flight control computer through the data synchronization acquisition unit 1, and synchronously acquires various sensor data such as attitude sensors and speed sensors. The fault analysis and processing unit 2 reads the data according to the preset monitoring mechanism, and marks the sensor data exceeding the monitoring threshold range as abnormal through the threshold judgment module 22. For example, during a flight training, the monitoring system found that the attitude sensor data collected by a certain data acquisition channel showed abnormal fluctuations and exceeded the normal threshold range. The system immediately calculated the failure rate of this data acquisition channel through the monitoring path generator 3, found that its failure rate was higher than the preset detection standard, so it determined that there was a fault in this data acquisition channel, quickly switched to other data acquisition channels with low failure rates to continue monitoring, and at the same time uploaded the abnormal data to the monitoring terminal 4. The monitoring personnel quickly located the faulty sensor according to the position identification code and carried out maintenance in time to avoid possible flight accidents.

[0049] Embodiment 2:

[0050] With the wide application of UAV technology, especially in some high-risk and high-value missions, high requirements are put forward for the reliability and fault monitoring ability of the UAV flight control system. For the fault monitoring of the UAV flight control system, a certain UAV adopts a triple-redundancy flight control system and applies the monitoring system mentioned above. The data acquisition channel is configured with multiple data acquisition interfaces, which can synchronously collect various sensor data such as attitude, speed, and current to comprehensively monitor the flight state of the UAV. For example, in a mapping mission, the UAV encountered strong wind interference and the flight attitude became abnormal. The fault monitoring system quickly detected the change in the attitude sensor data and judged through analysis that there were abnormalities in the data collected by some data acquisition channels. After calculating the failure rates of each data acquisition channel, the system selected the channel with a low failure rate as the monitoring path and uploaded the abnormal data to the ground monitoring terminal 4. According to the information provided by the monitoring terminal 4, the ground operator timely adjusted the flight strategy of the UAV, enabling it to complete the mission safely. At the same time, the recording and analysis of the abnormal data by the monitoring system also provided a basis for subsequent improvement of the UAV's wind resistance performance.

Claims

1. A fault synchronization monitoring system for a redundant flight control computer, characterized in that The monitoring system includes: A data synchronization acquisition unit (1), which configures corresponding numbers of data acquisition channels according to the redundancy quantity of the flight control computer to synchronously acquire sensor data of the flight control computer under simulated flight conditions; A fault analysis and processing unit (2), the fault analysis and processing unit (2) includes a data reading module (21), a threshold judgment module (22) and a marking module (23), the data reading module (21) is configured to: read the sensor data acquired by the data acquisition channels according to a preset monitoring mechanism, wherein the monitoring mechanism is set as: the data reading module (21) selects to access at least two of the data acquisition channels to read the sensor data; the threshold judgment module (22) is configured to: judge whether each sensor data is within a normal range based on a preset monitoring threshold range; the marking module (23) is configured to: mark the sensor data within the monitoring threshold range as normal, and mark the sensor data exceeding the monitoring threshold range as abnormal; A monitoring path generator (3), which is used to calculate the failure rate of each data acquisition channel, and use the data acquisition channels with failure rates lower than the preset detection standard as monitoring paths, and the monitoring paths upload the sensor data marked as abnormal to a monitoring terminal (4) for storage.

2. The fault synchronization monitoring system of a redundant flight control computer according to claim 1, characterized in that, The sensor includes at least one or more of an attitude sensor, a speed sensor and a current sensor.

3. The fault synchronization monitoring system of a redundant flight control computer according to claim 1, characterized in that, The data acquisition channels are configured with multiple data acquisition interfaces to synchronously acquire different types of sensor data.

4. A fault synchronization monitoring system for a redundant flight control computer according to claim 3, characterized in that The system further includes a data preprocessing module, the data preprocessing module is configured to: receive the sensor data acquired by each data acquisition channel, retrieve the unique number of the data acquisition interface corresponding to the sensor data from a database, convert the number into a position identification code in string form, and associate the position identification code with the sensor data according to the sensor type and then store them in a configuration file.

5. A fault synchronization monitoring system for a redundant flight control computer according to claim 4, characterized in that, The database configures a unique SQL query statement for each data acquisition interface; The data preprocessing module stores a query program, and when the data preprocessing module receives the sensor data acquired by any one of the data acquisition channels, it triggers the query program to execute a set query logic; The set query logic is set as: execute the SQL query statement to obtain the number of the corresponding data acquisition interface and the sensor data, traverse the query results, convert the number of the data acquisition interface into a position identification code in string form, and store them in the configuration file in one-to-one correspondence with the sensor data.

6. A fault synchronization monitoring system for a redundant flight control computer according to claim 3, characterized in that, The monitoring path generator (3) performs a priority sorting on multiple data acquisition interfaces in a gradually decreasing order based on the monitoring level set for the sensors, and selects the monitoring path with the smallest failure rate or all the monitoring paths from all the monitoring paths corresponding to each data acquisition interface, and uploads the sensor data corresponding to them and marked as abnormal to the monitoring terminal (4) in order according to the priority.

7. A fault synchronization monitoring system for a redundant flight control computer according to claim 6, characterized in that The monitoring terminal (4) stores a self-check program. When the monitoring terminal (4) receives sensor data marked as abnormal uploaded from at least two of the monitoring paths of any one of the data acquisition interfaces within a monitoring period, the self-check program is triggered to execute a set self-check logic; the set self-check logic is set as: comparing whether the sensor data marked as abnormal uploaded from at least two of the monitoring paths of any one of the data acquisition interfaces received by the monitoring terminal (4) is consistent; If they are consistent, it is determined that all the monitoring paths are normal, and the sensor data uploaded from any one of the monitoring paths is selected as the fault information and saved; If they are inconsistent, it is determined that at least one of the monitoring paths is abnormal, the sensor data uploaded from all the monitoring paths is saved, and the alarm (5) is triggered to send an alarm signal.

8. A method for fault synchronization monitoring of a redundant flight control computer, characterized in that The monitoring method is applied to the monitoring system according to any one of claims 1-7. The monitoring method includes the following steps: S1. Data synchronous acquisition: Configure a corresponding number of data acquisition channels according to the redundancy quantity of the flight control computer to synchronously acquire the sensor data of the flight control computer under the simulated flight conditions; S2. Fault analysis and processing: Read the sensor data acquired by the data acquisition channels according to a preset monitoring mechanism, and based on a preset monitoring threshold range, determine whether each sensor data is within the normal range. Mark the sensor data within the monitoring threshold range as normal, and mark the sensor data exceeding the monitoring threshold range as abnormal; S3. Abnormal data storage: Calculate the failure rate of each data acquisition channel, use the data acquisition channels with a failure rate lower than the preset detection standard as the monitoring paths, and upload the sensor data marked as abnormal to the monitoring terminal (4) for storage.

9. A method for fault synchronization monitoring of a redundant flight control computer according to claim 8, characterized in that In the S1, the method further includes preprocessing the sensor data acquired by the data acquisition channels. The preprocessing method specifically includes: Receiving the sensor data acquired by each data acquisition channel, retrieving the unique number of the data acquisition interface corresponding to the sensor data from the database, converting the number into a position identification code in string form, and associating the position identification code with the sensor data according to the sensor type and storing them in a configuration file.

10. A method for fault synchronization monitoring of a redundant flight control computer according to claim 8, characterized in that In the S3, the method further includes self-checking the sensor data marked as abnormal received by the monitoring terminal (4). The self-checking method specifically includes: Within a monitoring period, when the monitoring terminal (4) receives sensor data marked as abnormal uploaded from at least two of the monitoring paths of any one of the data acquisition interfaces, trigger the self-check program to execute the set self-check logic to compare whether the sensor data marked as abnormal uploaded from at least two of the monitoring paths of any one of the data acquisition interfaces received by the monitoring terminal (4) is consistent; If they are consistent, it is determined that all the monitoring paths are normal, and the sensor data uploaded from any one of the monitoring paths is selected as the fault information and saved; If they are inconsistent, it is determined that at least one of the monitoring paths is abnormal, the sensor data uploaded by all the monitoring paths is saved, and the alarm (5) is triggered to send an alarm signal.

Images