A method and system for synchronous fault monitoring of redundant flight control computers

Abstract

This invention relates to the field of flight control computer fault monitoring technology, and discloses a method and system for synchronous fault monitoring of a redundant flight control computer. The monitoring system includes a data synchronization acquisition unit, a fault analysis and processing unit, a monitoring path generator, and a monitoring terminal. The data synchronization acquisition unit configures a corresponding number of data acquisition channels according to the redundancy of the flight control computer to synchronously acquire sensor data of the flight control computer under simulated flight conditions. The fault analysis and processing unit includes a data reading module, a threshold judgment module, and a marking module, which marks sensor data as normal or abnormal, enabling timely detection of fault data. The monitoring path generator calculates the fault rate of each data acquisition channel and uses data acquisition channels with fault rates lower than a preset detection standard as monitoring paths. The monitoring paths upload the marked abnormal sensor data to the monitoring terminal for storage, which helps to accurately locate the specific location and cause of the fault.

Description

Technical Field

[0001] This invention relates to the field of flight control computer fault monitoring technology, specifically to a method and system for synchronous fault monitoring of a redundant flight control computer. Background Technology

[0002] As the core component of the flight control system, the reliability of the flight control computer directly affects the normal operation of the system. While redundancy design can improve system reliability, it can also make it difficult to pinpoint the exact location and cause of faults in certain situations. For example, when interference during data transmission leads to abnormal monitoring data, it may be impossible to accurately distinguish whether the fault is caused by the component under test or the processor, thus hindering rapid troubleshooting. 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 redundant flight control computers 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 comprising:

[0005] The data synchronization acquisition unit is configured with a corresponding number of data acquisition channels according to the redundancy of the flight control computer to synchronously acquire sensor data of the flight control computer under simulated flight conditions.

[0006] 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 sensor data collected by the data acquisition channels according to a preset monitoring mechanism, wherein the monitoring mechanism is set such that the data reading module selects to access at least two of the data acquisition channels to read sensor data. The threshold judgment module is configured to determine whether each sensor data is within a normal range based on a preset monitoring threshold range. The marking module is configured to mark sensor data within the monitoring threshold range as normal and sensor data exceeding the monitoring threshold range as abnormal.

[0007] A monitoring path generator is used to calculate the failure rate of each data acquisition channel and use the data acquisition channels with failure rates lower than a preset detection standard as monitoring paths. The monitoring paths upload 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 multiple data acquisition interfaces to simultaneously acquire data from different types of sensors.

[0010] Optionally, the system further includes a data preprocessing module, which is configured to: receive 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 location identification code in string form, and store the location identification code in a configuration file after associating it with the sensor data according to the sensor type.

[0011] Optionally, the database is configured with 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 sensor data collected from any of the data acquisition channels, it triggers the query program to execute the set query logic. The set query logic is configured 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 string-based location identification code, and save it to the configuration file in a one-to-one correspondence with the sensor data.

[0013] Optionally, the monitoring path generator prioritizes multiple data acquisition interfaces in descending order based on the monitoring level set by the sensor, and selects the monitoring path with the lowest failure rate or all monitoring paths from all monitoring paths corresponding to each data acquisition interface, and uploads the corresponding sensor data marked as abnormal to the monitoring terminal in order of priority.

[0014] Optionally, the monitoring terminal stores a self-test program. When the monitoring terminal receives at least two monitoring paths from any one of the data acquisition interfaces that are marked as abnormal during the monitoring period, the self-test program is triggered to execute a set self-test logic. The set self-test logic is configured to compare whether the sensor data marked as abnormal uploaded from at least two monitoring paths from any one of the data acquisition interfaces received by the monitoring terminal are consistent.

[0015] If they match, all monitoring paths are considered normal. Sensor data uploaded from any one of the monitoring paths is selected as fault information and saved.

[0016] If there is a discrepancy, at least one of the monitoring paths is determined to be abnormal, the sensor data uploaded by all the monitoring paths is saved, and the alarm is triggered to issue an alarm signal.

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

[0018] S1. Data Synchronous Acquisition: Configure a corresponding number of data acquisition channels according to the redundancy of the flight control computer to synchronously acquire sensor data of the flight control computer under simulated flight conditions.

[0019] S2. Fault Analysis and Handling: Read the sensor data collected by the data acquisition channel according to the preset monitoring mechanism, and determine whether each sensor data is within the normal range based on the preset monitoring threshold range. Mark the sensor data within the monitoring threshold range as normal, and mark the sensor data exceeding the monitoring threshold range as abnormal.

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

[0021] Optionally, in step S1, the method further includes preprocessing the sensor data acquired by the data acquisition channel, wherein the preprocessing method specifically includes:

[0022] The system receives sensor data collected by each of the data acquisition channels, retrieves the unique number of the data acquisition interface corresponding to the sensor data from the database, converts the number into a string-based location identification code, and associates the location identification code with the sensor data according to the sensor type before storing it in the configuration file.

[0023] Optionally, in step S3, the method further includes performing a self-test on the sensor data marked as abnormal received by the monitoring terminal, wherein the self-test method specifically includes:

[0024] During the monitoring period, when the monitoring terminal receives sensor data marked as abnormal uploaded from at least two monitoring paths of any data acquisition interface, a self-test program is triggered to execute the set self-test logic to compare whether the sensor data marked as abnormal uploaded from at least two monitoring paths of any data acquisition interface received by the monitoring terminal are consistent.

[0025] If they match, all monitoring paths are considered normal. Sensor data uploaded from any one of the monitoring paths is selected as fault information and saved.

[0026] If there is a discrepancy, at least one of the monitoring paths is determined to be abnormal, the sensor data uploaded by all the monitoring paths is saved, and the alarm is triggered to issue an alarm signal.

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

[0028] 1. In this invention, the data synchronization acquisition unit is configured with corresponding data acquisition channels based on the redundancy of the flight control computer, enabling simultaneous acquisition of data from multiple sensors. Simultaneously, the data reading module of the fault analysis and processing unit selects at least two data acquisition channels to read sensor data. This allows the monitoring path generator to calculate the failure rate of each data acquisition channel and select channels with failure rates lower than a preset detection standard as the monitoring path for uploading abnormal data. This eliminates the possibility of sensor data anomalies caused by data acquisition channel failures, helping to accurately locate the specific location and cause of the fault. Furthermore, pre-screening of data acquisition channels allows for the selection of data acquired by channels with stable acquisition performance for analysis and processing, avoiding misjudgments and improving monitoring accuracy.

[0029] 2. In this invention, a threshold judgment module determines in real time whether the data from each sensor is normal, and a marking module marks the sensor data as normal or abnormal, enabling timely detection of faulty data. Simultaneously, a data preprocessing module converts the data acquisition interface number into a location identification code and associates it with the sensor data in a configuration file. This facilitates the precise location of abnormal sensor data and rapid identification of the faulty sensor when multiple sensors malfunction, based on the location identification code.

[0030] 3. In this invention, by setting a self-test program, the monitoring terminal can automatically trigger the self-test logic when it receives abnormal sensor data uploaded from at least two monitoring paths. By comparing whether the data is consistent, it can be determined whether the monitoring path is normal, and abnormal situations can be handled and alarm signals can be issued to prompt monitoring personnel to investigate. This helps to optimize the system in real time, improve the accuracy of sensor data monitoring, and provide strong support for analyzing the location and cause of flight control computer faults. Attached Figure Description

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

[0032] Figure 2 This is a flowchart illustrating a fault synchronization monitoring method for a redundant flight control computer according to the present invention.

[0033] In the diagram: 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 Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figure 1 As shown, this 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. The data synchronization acquisition unit 1 is configured with a corresponding number of data acquisition channels based on the redundancy of the flight control computer to synchronously acquire sensor data from the flight control computer under simulated flight conditions. The sensors include at least one or more of attitude sensors, velocity sensors, and current sensors. Each data acquisition channel is configured with multiple data acquisition interfaces to synchronously acquire different types of sensor data, enabling simultaneous monitoring of multiple sets 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 sensor data acquired by the data acquisition channels according to a preset monitoring mechanism. The monitoring mechanism is set such that the data reading module 21 selects at least two data acquisition channels to read multiple sets of sensor data, thereby pre-screening the data acquisition channels. Through screening, sensor data acquired by data acquisition channels with stable acquisition performance can be selected for subsequent analysis and processing, effectively avoiding misjudgment and improving the system's monitoring accuracy. The threshold judgment module 22 is configured to determine whether each sensor data is within the normal range based on a preset monitoring threshold range; the marking module 23 is configured to mark sensor data within the monitoring threshold range as normal and 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 channel 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 4 for storage;

[0036]

[0037] In the above process, when uploading abnormal sensor data, the data acquisition channels are first trained using multiple sets of sensor data to obtain the failure rate of each data acquisition channel and analyze whether there is a fault in the corresponding data acquisition channel. Then, the data acquisition channel with a failure rate lower than the detection standard is selected as the monitoring path. This allows for the rapid elimination of the possibility that the sensor data is abnormal due to a fault in the data acquisition channel, making it easier to accurately locate the specific location and cause of the fault.

[0038] Furthermore, the system also includes a data preprocessing module. This module is configured to receive sensor data collected by each data acquisition channel, retrieve the unique identifier of the corresponding data acquisition interface from the database, convert the identifier into a string-based location identification code, and then associate the location identification code with the sensor data according to the sensor type before storing it 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 sensor data collected by any data acquisition channel, it triggers the query program to execute the set query logic. The set query logic is configured to execute an SQL query statement to obtain the corresponding data acquisition interface identifier and sensor data, iterate through the query results, convert the data acquisition interface identifier into a string-based location identification code, and save it in a configuration file, corresponding one-to-one with the sensor data. Therefore, when multiple sensors malfunction simultaneously, monitoring personnel can accurately locate the position of the sensor data marked as abnormal based on the location identification code.

[0039] In the above, to improve the transmission accuracy and efficiency when processing multiple sets of sensor data synchronously, the monitoring path generator 3 prioritizes multiple data acquisition interfaces in descending order based on the monitoring level set by the sensors. From all the monitoring paths corresponding to each data acquisition interface, it selects the monitoring path with the lowest failure rate or all monitoring paths, and uploads the corresponding sensor data marked as abnormal to the monitoring terminal 4 in an orderly manner according to the priority order, effectively avoiding disorder in the sensor data transmission process.

[0040] In order to further improve the acquisition accuracy of the data acquisition channels, the monitoring terminal 4 stores a self-test program. When the monitoring terminal 4 receives sensor data marked as abnormal from at least two monitoring paths of any data acquisition interface within the monitoring period, it triggers the self-test program to execute the set self-test logic. The set self-test logic is as follows: compare whether the sensor data marked as abnormal from at least two monitoring paths of any data acquisition interface received by the monitoring terminal 4 are consistent; if consistent, all monitoring paths are determined to be normal, and sensor data from any monitoring path is selected as fault information and saved; if inconsistent, at least one monitoring path is determined to be abnormal, all sensor data from all monitoring paths are saved, and the alarm 5 is triggered to issue an alarm signal to remind the monitoring personnel to check the monitoring path.

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

[0042] Step 1: Data Synchronization Acquisition. Configure the corresponding number of data acquisition channels based on the redundancy of the flight control computer to synchronously acquire sensor data from the flight control computer under simulated flight conditions. To ensure rapid and accurate location of the faulty sensor data when multiple sensor data malfunctions simultaneously, the sensor data acquired by the data acquisition channels needs to be preprocessed. The preprocessing method is as follows: 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 the database, convert the number into a string-based position identification code, 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 the fault location of the sensor data can be quickly found based on the unique code associated with the position identification code and the data acquisition interface.

[0043] Step 2, Fault Analysis and Handling: Read the sensor data collected by the data acquisition channel according to the preset monitoring mechanism, and determine whether each sensor data is within the normal range based on the preset monitoring threshold 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, and use the data acquisition channel with a failure rate lower than the preset detection standard (failure rate lower than 0.1%) as the monitoring path, and upload the sensor data marked as abnormal to the monitoring terminal 4 for storage;

[0045]

[0046] Before saving abnormal sensor data, monitoring terminal 4 needs to perform a self-check on the sensor data marked as abnormal. The self-check method is as follows: During the monitoring period, when monitoring terminal 4 receives sensor data marked as abnormal uploaded from at least two monitoring paths of any data acquisition interface, it triggers a self-check program to execute the set self-check logic to compare whether the sensor data marked as abnormal uploaded from at least two monitoring paths of any data acquisition interface received by monitoring terminal 4 are consistent. If they are consistent, all monitoring paths are determined to be normal, and sensor data uploaded from any monitoring path is selected as fault information and saved. If they are inconsistent, at least one monitoring path is determined to be abnormal, sensor data uploaded from all monitoring paths is saved, and alarm 5 is triggered to issue an alarm signal to prompt monitoring personnel to check the monitoring paths. Sensor data uploaded from monitoring paths that are confirmed to be normal after investigation are then used as sensor fault information, and the fault problems contained in the sensor data are resolved 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 helps to analyze the fault location and cause of redundant flight control computer faults in detail.

[0047] Example 1:

[0048] For fault monitoring of the flight control system of a certain fighter jet, the aircraft employs a redundant flight control computer system to ensure flight safety and reliability. During flight missions, the flight control system needs to monitor various sensor data in real time to ensure that parameters such as aircraft attitude and speed remain within normal ranges. It is equipped with a redundant flight control computer fault monitoring system based on the ARINC659 bus. This system, through data synchronization acquisition unit 1, configures multiple data acquisition channels according to the redundancy of the flight control computer, simultaneously acquiring data from various sensors such as attitude sensors and speed sensors. Fault analysis and processing unit 2 reads the data according to a preset monitoring mechanism, and through threshold judgment module 22, marks sensor data exceeding the monitoring threshold range as abnormal. For example, during a flight training exercise, the monitoring system detected abnormal fluctuations in attitude sensor data acquired by a certain data acquisition channel, exceeding the normal threshold range. The system immediately calculates the failure rate of this data acquisition channel through monitoring path generator 3, finds that its failure rate is higher than the preset detection standard, and thus determines that the data acquisition channel is faulty. It then quickly switches to other data acquisition channels with lower failure rates to continue monitoring, while simultaneously uploading the abnormal data to monitoring terminal 4. Monitoring personnel can quickly locate the faulty sensor using the location identification code and carry out timely repairs to avoid potential flight accidents.

[0049] Example 2:

[0050] With the widespread application of UAV technology, especially in high-risk, high-value missions, high demands are placed on the reliability and fault monitoring capabilities of UAV flight control systems. For fault monitoring of UAV flight control systems, a certain UAV adopted a triple-redundant flight control system and applied the aforementioned monitoring system. The data acquisition channels are equipped with multiple data acquisition interfaces, capable of simultaneously acquiring data from various sensors such as attitude, speed, and current, providing comprehensive monitoring of the UAV's flight status. For example, during a mapping mission, the UAV encountered strong wind interference, resulting in abnormal flight attitude. The fault monitoring system quickly detected changes in attitude sensor data and, through analysis, determined that the data acquired by some data acquisition channels was abnormal. After calculating the failure rate of each data acquisition channel, the system selected the channel with the lowest failure rate as the monitoring path and uploaded the abnormal data to ground monitoring terminal 4. Based on the information provided by monitoring terminal 4, ground operators promptly adjusted the UAV's flight strategy, enabling it to safely complete the mission. Simultaneously, the recording and analysis of abnormal data by the monitoring system also provided a basis for subsequent improvements to 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: The data synchronization acquisition unit (1) is configured with a corresponding number of data acquisition channels according to the redundancy of the flight control computer to synchronously acquire sensor data of the flight control computer under simulated flight conditions. 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 sensor data collected by the data acquisition channel according to a preset monitoring mechanism. The monitoring mechanism is set to: the data reading module (21) selects to access at least two of the data acquisition channels to read sensor data; the threshold judgment module (22) is configured to: determine whether each sensor data is in the normal range based on a preset monitoring threshold range; the marking module (23) is configured to: mark sensor data within the monitoring threshold range as normal, and mark sensor data exceeding the monitoring threshold range as abnormal. The monitoring path generator (3) prioritizes multiple data acquisition interfaces in descending order based on the monitoring level set by the sensor, and selects the monitoring path with the lowest failure rate or all monitoring paths corresponding to each data acquisition interface to upload the corresponding sensor data marked as abnormal to the monitoring terminal (4) in order of priority. The monitoring terminal (4) stores a self-test program. When the monitoring terminal (4) receives at least two monitoring paths of any data acquisition interface that are marked as abnormal during the monitoring period, the self-test program is triggered to execute the set self-test logic. The set self-test logic is set to compare whether the sensor data marked as abnormal uploaded by at least two monitoring paths of any data acquisition interface received by the monitoring terminal (4) are consistent. If they match, all monitoring paths are considered normal. Sensor data uploaded from any one of the monitoring paths is selected as fault information and saved. If there is a discrepancy, at least one of the monitoring paths is determined to be abnormal, the sensor data uploaded by all the monitoring paths is saved, and the alarm (5) is triggered to issue an alarm signal.

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

3. The fault synchronization monitoring system for a redundant flight control computer according to claim 1, characterized in that, The data acquisition channel is equipped with multiple data acquisition interfaces to simultaneously acquire data from different types of sensors.

4. The fault synchronization monitoring system for a redundant flight control computer according to claim 3, characterized in that, The system also includes a data preprocessing module, which is configured to: receive 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 location identification code in string form, and associate the location identification code with the sensor data according to the sensor type and store it in the configuration file.

5. The fault synchronization monitoring system for a redundant flight control computer according to claim 4, characterized in that, The database is configured with a unique SQL query statement for each of the data acquisition interfaces; The data preprocessing module stores a query program. When the data preprocessing module receives sensor data collected by any of the data acquisition channels, it triggers the query program to execute the set query logic. The query logic is set as follows: 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 string-based location identification code, and save it to the configuration file in a one-to-one correspondence with the sensor data.

6. A method for synchronously monitoring faults in a redundant flight control computer, characterized in that, The monitoring method is applied to the monitoring system according to any one of claims 1-5, and the monitoring method includes the following steps: S1. Data Synchronous Acquisition: Configure a corresponding number of data acquisition channels according to the redundancy of the flight control computer to synchronously acquire sensor data of the flight control computer under simulated flight conditions. S2. Fault Analysis and Handling: Read the sensor data collected by the data acquisition channel according to the preset monitoring mechanism, and determine whether each sensor data is within the normal range based on the preset monitoring threshold 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, and use the data acquisition channel with a failure rate lower than the preset detection standard as the monitoring path, and upload the sensor data marked as abnormal to the monitoring terminal (4) for storage.

7. The fault synchronization monitoring method for a redundant flight control computer according to claim 6, characterized in that, In step S1, the method further includes preprocessing the sensor data acquired by the data acquisition channel. The preprocessing method specifically includes: The system receives sensor data collected by each of the data acquisition channels, retrieves the unique number of the data acquisition interface corresponding to the sensor data from the database, converts the number into a string-based location identification code, and associates the location identification code with the sensor data according to the sensor type before storing it in the configuration file.

8. The fault synchronization monitoring method for a redundant flight control computer according to claim 6, characterized in that, In step S3, the method further includes performing a self-test on the sensor data marked as abnormal received by the monitoring terminal (4). The self-test method specifically includes: During the monitoring period, when the monitoring terminal (4) receives sensor data marked as abnormal uploaded from at least two monitoring paths of any data acquisition interface, it triggers a self-test program to execute the set self-test logic to compare whether the sensor data marked as abnormal uploaded from at least two monitoring paths of any data acquisition interface received by the monitoring terminal (4) is consistent. If they match, all monitoring paths are considered normal. Sensor data uploaded from any one of the monitoring paths is selected as fault information and saved. If there is a discrepancy, at least one of the monitoring paths is determined to be abnormal, the sensor data uploaded by all the monitoring paths is saved, and the alarm (5) is triggered to issue an alarm signal.

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