Strong-real-time high-reliability airborne photoelectric system partition scheduling method

Abstract

The invention discloses a strong-real-time high-reliability airborne photoelectric system partition scheduling method, and belongs to the technical field of airborne photoelectric systems. It is ensured that the airborne photoelectric system can quickly respond to the requirements of various tasks in a complex task environment, strong real-time execution of the tasks is ensured, and task execution delay is controlled within an acceptable range. The reliability of the system is improved, and through an effective fault-tolerant mechanism and a resource dynamic adjustment strategy, the system can still operate stably under the conditions of equipment faults, task anomalies and the like, and smooth completion of a flight task is guaranteed. System resource allocation is optimized, calculation, storage, communication and other resources are reasonably allocated according to resource demand characteristics of different tasks, the resource utilization rate is increased, and the overall performance of the system is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of airborne optoelectronic systems, and in particular relates to a partition scheduling method for airborne optoelectronic systems oriented to strong real-time and high reliability requirements. Background Art

[0002] Airborne optoelectronic systems are the core equipment for modern aircraft to achieve target identification, situational awareness and autonomous decision-making. In complex environments (electromagnetic interference, high dynamic targets, extreme weather conditions), airborne optoelectronic systems must simultaneously meet strong real-time performance (microsecond response), high reliability (failure rate <10%), and high reliability (failure rate <10%). -7 This method addresses the stringent requirements of real-time resource allocation and task scheduling for airborne optoelectronic systems (data acquisition, processing, and transmission) and multi-task collaboration (data acquisition, processing, and transmission). It is suitable for avionics systems, drone payload management, and multi-task collaborative control scenarios. Existing scheduling methods have the following shortcomings:

[0003] Real-time performance is difficult to guarantee: As the functionality of airborne optoelectronic systems continues to expand, the number and complexity of tasks they must handle are increasing dramatically. Traditional scheduling methods often rely on sequential scheduling or simple priority scheduling strategies. Faced with a large number of concurrent tasks, these methods are unable to quickly respond to urgent tasks, leading to delays in task execution.

[0004] Poor reliability: Airborne optoelectronic systems may face a variety of complex environments during flight, such as electromagnetic interference, vibration, and temperature fluctuations. This places extremely high demands on system reliability. Existing scheduling methods lack effective fault-tolerance mechanisms and resource reallocation strategies for dealing with equipment failures or mission anomalies. A single optoelectronic device failure can disrupt or cause errors throughout the entire system, severely impacting mission completion.

[0005] Low resource utilization: Different optoelectronic tasks have widely varying requirements for system resources (such as computing, storage, and communication resources). Traditional scheduling methods fail to fully consider the resource requirements of tasks, resulting in irrational resource allocation, with some resources remaining idle while others cannot be efficiently executed due to insufficient resources. Summary of the Invention

[0006] The purpose of this invention is to provide a highly real-time and reliable airborne optoelectronic system partition scheduling method to address the problems of existing scheduling methods in terms of real-time performance, reliability, and resource utilization. Specifically, the present invention aims to achieve the following goals:

[0007] (1) Ensure that the airborne optoelectronic system can quickly respond to the needs of various tasks in complex mission environments, ensure strong real-time execution of tasks, and control the mission execution delay within an acceptable range.

[0008] (2) Improve the reliability of the system. Through effective fault-tolerant mechanisms and dynamic resource adjustment strategies, the system can still operate stably in the face of equipment failures, mission abnormalities, etc., to ensure the smooth completion of the flight mission.

[0009] (3) Optimize system resource allocation. According to the resource requirements of different tasks, reasonably allocate computing, storage, and communication resources to improve resource utilization and enhance the overall system performance.

[0010] The technical solution of the present invention:

[0011] A strong real-time and high-reliability partition scheduling method for airborne optoelectronic systems is as follows:

[0012] Step 1: Business characteristics and core requirements analysis

[0013] Business characteristics and core requirements analysis includes analyzing business types and real-time requirements, analyzing reliability constraints, and analyzing multi-task collaboration challenges. The details are as follows:

[0014] Step 1.1: Analyze business types and real-time requirements

[0015] The real-time requirements of airborne optoelectronic systems cover the entire process from command generation and distribution to operational status feedback. Business types are categorized as data acquisition, computing, and communications.

[0016] (1) Data acquisition services: infrared imaging data formed by the optical system through the infrared thermal imager that collects infrared radiation from the target and background;

[0017] Data acquisition services are used to collect infrared imaging data formed by the infrared radiation of the target and background through the optical system. The real-time requirements for infrared imaging data acquisition need to consider the infrared imaging integration time, preprocessing time, and video compression time. Data acquisition services output the infrared imaging video at a fixed frame rate (≥30Hz) with a delay of hundreds of milliseconds.

[0018] (2) Computational services: performing corresponding computations on the data collected by data collection services;

[0019] The computing business is used to identify the target of the infrared imaging collected by the data acquisition business. The infrared imaging video output by the data acquisition business in real time is transmitted to the target recognition module within the optoelectronic system, and target recognition is achieved through feature extraction and matching. The target recognition module uses YOLOv5 with a delay of ≤5ms (such as the EOTS system of the F-35). (3) Communication business: Real-time communication between the optoelectronic system and the airborne mission machine, and real-time communication between the components within the optoelectronic system.

[0020] Communication services in optoelectronic systems refer to:

[0021] (1) Bus communication: The optoelectronic system establishes bus communication with the onboard mission processor, forwarding commands to the components within the system. The components then execute the corresponding actions and report their working status, completing the issuance of commands and feedback on their working status. Bus command transmission has deterministic latency.

[0022] (2) Component communication: To implement preset functions in response to onboard instructions, components interact collaboratively to complete real-time data forwarding.

[0023] Step 1.2: Analyze reliability constraints

[0024] Analyzing reliability constraints includes analyzing fault tolerance levels and analyzing redundant designs.

[0025] (1) Analyze the fault tolerance level

[0026] According to the DO-178C standard, missions are classified as AE (Class A represents catastrophic failure). While the missions performed by the airborne electro-optical system will not impact flight safety, the target position output by the system will be included in the strike closed-loop process. To ensure this does not affect mission execution, a reliable partitioned scheduling method was developed. This approach divides fault detection and handling into separate functional partitions during design. Within each scheduling cycle, faults are handled within a defined time slice to ensure reliable mission execution.

[0027] (2) Redundant design

[0028] In order to improve the reliability of the airborne optoelectronic system's functional operation, scalability and backup are taken into consideration during partition design, and a mechanism for simultaneous processing of multiple cores is adopted. At the same time, the business operation time is evaluated, and time slices are reserved with 30% redundancy to ensure the normal operation of functional modules.

[0029] Step 1.3: Analyze the multi-task collaboration challenge

[0030] In complex multi-task collaboration scenarios, considering business flow logic and timing control, software and hardware function allocation should be carried out during system design. Otherwise, there will be conflicts in sharing CPU, memory, and I / O bandwidth, and different functional modules will compete for the same computing resources simultaneously. At the same time, considering the strong real-time nature of airborne optoelectronic services, to ensure that each frame of data from the components within the optoelectronic system can be sent and reported in a timely and effective manner, and that each component can work together efficiently to achieve various functions, a partition scheduling method can be designed based on a real-time operating system to address the challenges of "resource competition" and "timing control." That is, within a specific time slice, a specific computing resource is used to execute a specific task.

[0031] Step 2: Multi-core processor working mode design

[0032] Considering the operating environment of the operating system and the application characteristics of an airborne optoelectronic functional module, different modes under multi-core support are analyzed and compared. Finally, the number of cores of the multi-core processor is determined, and the business in step 1 is split into multiple subtasks, which are processed simultaneously by multiple cores.

[0033] Step 3: Partition Design

[0034] Partition design includes mode and partition division, startup mode operation process design, ground mode and air mode operation process design, as follows:

[0035] Step 3.1: Schema and Partitioning

[0036] For a specific airborne optoelectronic system, considering top-level design requirements, product usage patterns, and fault and emergency handling, the system's multiple subtasks were assigned functional modules, each encapsulated as an independent partition. Based on actual usage, each functional module was divided into startup mode, ground mode, and air mode according to its operating mode. The startup mode serves as the entry point to either ground mode or air mode. The ground mode covers the functional modules required for the equipment during the ground maintenance and development phase. The air mode covers the functional modules required for the equipment to be implemented while airborne.

[0037] Step 3.2: Startup Mode Operation Process Design

[0038] After the operating system is initialized, it will run the startup mode control partition and receive external instructions at the same time. If it is a ground mode instruction, it will enter the ground mode, start the ground mode time schedule and run cyclically; if it is an air mode instruction, it will enter the air mode, start the air mode priority and time schedule and run cyclically.

[0039] Step 3.3: Design of partitioned operation process for ground mode and air mode application

[0040] The application partition operation process of ground mode and air mode includes initialization tasks and periodic tasks.

[0041] (1) Initialization task: mainly completes the initialization of the partition operating environment and the initialization of each functional module in the partition.

[0042] (2) Periodic tasks: Run the corresponding functional modules in a fixed time slice according to the set cycle.

[0043] Step 4: Partition scheduling design

[0044] The startup mode partition and ground mode partition are scheduled using a time schedule. The air mode partition uses a priority model and a time schedule. The partition initialization and startup order is determined by the priority, with 0 representing the highest priority. Each partition has a priority. The startup mode partition has a lower priority than other partitions in the system.

[0045] Step 4.1: System mode switching process design

[0046] After powering on the computer, booting from PBF, booting from UBOOT, and initializing the operating system, the system enters boot mode. The operating system boot mode controls the operation of the partition. The partition switches system modes based on external commands, entering ground mode or air mode.

[0047] Step 4.2: Ground Mode Scheduling Design

[0048] It runs in a time schedule. In startup mode, after receiving the command to enter ground mode, the partition completes partition initialization. After all partition initialization tasks are completed, the partition will start the ground mode time schedule. At this time, the operating system begins to schedule the partitions to run periodically according to the configuration of the time schedule.

[0049] Step 4.3: Air Mode Scheduling Design

[0050] In startup mode, after waiting for more than the set time, the system will enter air mode by default. The air mode partition scheduling first adopts the priority mode. Each partition has a priority. The highest priority partition is scheduled first, and then the time schedule is adopted and runs periodically.

[0051] Beneficial effects of the present invention:

[0052] (1) Strong real-time guarantee

[0053] Through reasonable task priority division and efficient scheduling strategy, as well as optimized data processing and transmission mechanism, the scheduling method of the present invention can significantly improve the real-time performance of the airborne optoelectronic system, quickly respond to emergency mission needs, and meet the strict real-time requirements of the aviation field.

[0054] (2) Improved reliability

[0055] A comprehensive fault-tolerance mechanism and dynamic resource adjustment strategy ensure the system maintains stable operation despite various faults and abnormalities. System reliability indicators, such as mean time between failures (MTBF), have been significantly improved, effectively ensuring the successful completion of flight missions.

[0056] (3) Improved resource utilization

[0057] Based on the design of functional partitioning and resource partitioning, as well as the resource allocation strategy based on task requirement characteristics, the scheduling method of the present invention can make full use of system resources, improve resource utilization, effectively improve the waste of storage resources and communication resources, and enhance the overall performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a diagram of dual-core parallel mode.

[0059] Figure 2 Control partition operation flow chart for boot mode.

[0060] Figure 3 Apply partitioned operation flow chart for ground module and air mode.

[0061] Figure 4 This is the system mode switching diagram.

[0062] Figure 5 Diagram of the ground mode partition scheduling process.

[0063] Figure 6 Diagram of the air mode partition scheduling process. DETAILED DESCRIPTION

[0064] A strong real-time and high-reliability partition scheduling method for airborne optoelectronic systems is as follows:

[0065] Step 1: Business characteristics and core requirements analysis

[0066] Business characteristics and core requirements analysis includes analyzing business types and real-time requirements, analyzing reliability constraints, and analyzing multi-task collaboration challenges. The details are as follows:

[0067] Step 1.1: Analyze business types and real-time requirements

[0068] The real-time requirements of airborne optoelectronic systems cover the entire process from command generation and distribution to operational status feedback. Business types are categorized as data acquisition, computing, and communications.

[0069] (1) Data acquisition services: infrared imaging data formed by the optical system through the infrared thermal imager that collects infrared radiation from the target and background;

[0070] Data acquisition services are used to collect infrared imaging data formed by the infrared radiation of the target and background through the optical system. The real-time requirements for infrared imaging data acquisition need to consider the infrared imaging integration time, preprocessing time, and video compression time. Data acquisition services output the infrared imaging video at a fixed frame rate (≥30Hz) with a delay of hundreds of milliseconds.

[0071] (2) Computational services: performing corresponding computations on the data collected by data collection services;

[0072] The computing business is used to identify the target of the infrared imaging collected by the data acquisition business. The infrared imaging video output by the data acquisition business in real time is transmitted to the target recognition module within the optoelectronic system, and target recognition is achieved through feature extraction and matching. The target recognition module uses YOLOv5 with a delay of ≤5ms (such as the EOTS system of the F-35). (3) Communication business: Real-time communication between the optoelectronic system and the airborne mission machine, and real-time communication between the components within the optoelectronic system.

[0073] Communication services in optoelectronic systems refer to:

[0074] (1) Bus communication: The optoelectronic system establishes bus communication with the onboard mission processor, forwarding commands to the components within the system. The components then execute the corresponding actions and report their operating status, completing the issuance of commands and feedback on their operating status. Bus command transmission has deterministic latency. For example, the MIL-STD-1553B bus requires command-response cycle jitter to be <100ns.

[0075] (2) Component communication: To implement preset functions in response to onboard instructions, components interact collaboratively to complete real-time data forwarding.

[0076] Step 1.2: Analyze reliability constraints

[0077] Analyzing reliability constraints includes analyzing fault tolerance levels and analyzing redundant designs.

[0078] (1) Analyze the fault tolerance level

[0079] According to the DO-178C standard, missions are classified as AE (Class A represents catastrophic failure). While the missions performed by the airborne electro-optical system will not impact flight safety, the target position output by the system will be included in the strike closed-loop process. To ensure this does not affect mission execution, a reliable partitioned scheduling method was developed. This approach divides fault detection and handling into separate functional partitions during design. Within each scheduling cycle, faults are handled within a defined time slice to ensure reliable mission execution.

[0080] (2) Redundant design

[0081] In order to improve the reliability of the airborne optoelectronic system's functional operation, scalability and backup are taken into consideration during partition design, and a mechanism for simultaneous processing of multiple cores is adopted. At the same time, the business operation time is evaluated, and time slices are reserved with 30% redundancy to ensure the normal operation of functional modules.

[0082] Step 1.3: Analyze the multi-task collaboration challenge

[0083] In complex multi-task collaboration scenarios, considering business flow logic and timing control, software and hardware function allocation should be carried out during system design. Otherwise, there will be conflicts in sharing CPU, memory, and I / O bandwidth, and different functional modules will compete for the same computing resources simultaneously. At the same time, considering the strong real-time nature of airborne optoelectronic services, to ensure that each frame of data from the components within the optoelectronic system can be sent and reported in a timely and effective manner, and that each component can work together efficiently to achieve various functions, a partition scheduling method can be designed based on a real-time operating system to address the challenges of "resource competition" and "timing control." That is, within a specific time slice, a specific computing resource is used to execute a specific task.

[0084] Step 2: Multi-core processor working mode design

[0085] Considering the operating environment of the operating system and the application characteristics of an airborne optoelectronic functional module, different modes under multi-core support are analyzed and compared. Finally, the number of cores of the multi-core processor is determined, and the business in step 1 is split into multiple subtasks, which are processed simultaneously by multiple cores.

[0086] like Figure 1 As shown, the dual-core parallel mode is ultimately adopted to split the business into multiple subtasks, which are processed simultaneously by two cores, with the following advantages:

[0087] Single operating system, unified resource allocation and scheduling

[0088] Run different application partitions on different cores

[0089] Mature technology and controllable cycle

[0090] Step 3: Partition Design

[0091] Partition design includes mode and partition division, startup mode operation process design, ground mode and air mode operation process design, as follows:

[0092] Step 3.1: Schema and Partitioning

[0093] For a specific airborne optoelectronic system, considering top-level design requirements, product usage patterns, and fault and emergency handling, the system's multiple subtasks were assigned functional modules, each of which was then encapsulated into independent partitions. Based on actual usage, each functional module was divided into startup mode, ground mode, and air mode according to its operating mode. The startup mode serves as the entry point to either ground mode or air mode. The ground mode encompasses the functional modules required for the equipment during the ground maintenance and development phase. The air mode encompasses the functional modules required for the equipment while airborne. The functional module partitions within each mode are shown in Table 1.

[0094] Table 1 List of modes and partitions

[0095]

[0096]

[0097] Step 3.2: Startup Mode Operation Process Design

[0098] After the operating system is initialized, it will start the mode control partition and receive external instructions. If it is a ground mode instruction, it will enter the ground mode, start the ground mode time schedule and run periodically; if it is an air mode instruction, it will enter the air mode, start the air mode priority and time schedule and run periodically. Its operation process is as follows: Figure 2 shown.

[0099] Step 3.3: Design of partitioned operation process for ground mode and air mode application

[0100] The application partition operation process of ground mode and air mode includes initialization tasks and periodic tasks.

[0101] (1) Initialization task: mainly completes the initialization of the partition operating environment and the initialization of each functional module in the partition.

[0102] (2) Periodic tasks: Run the corresponding functional modules in a fixed time slice according to the set cycle.

[0103] Its operation process is as follows Figure 3 shown.

[0104] Step 4: Partition scheduling design

[0105] The startup mode partition and ground mode partition are scheduled using a time schedule. The air mode partition uses a priority mode and a time schedule. The partition initialization and startup order is determined by the priority, with 0 representing the highest priority. Each partition has a priority. The startup mode partition has a lower priority than other partitions in the system. The partition scheduling configuration is shown in Table 2:

[0106] Table 2 Partition scheduling configuration information

[0107]

[0108]

[0109] Step 4.1: System mode switching process design

[0110] After the computer is powered on, PBF boots up, UBOOT boots up, and the operating system is initialized, the system will enter the boot mode. The operating system boot mode controls the operation of the partition. The partition switches the system mode according to external instructions and enters the ground mode or the air mode. Figure 4shown.

[0111] Step 4.2: Ground Mode Scheduling Design

[0112] The ground mode operation partition consists of the ground input partition, MBIT partition, read / write parameter partition, custom function control partition, ground output partition, command and control function partition, super control device partition and software upgrade CAN partition, and operates in a time schedule. In the startup mode, after the partition receives the command to enter the ground mode, it completes the partition initialization. After the initialization tasks of all partitions are completed, the partition will start the ground mode time schedule. At this time, the operating system starts to run the scheduled partition periodically according to the configuration of the time schedule, and the scheduling period is set to 10ms. The ground mode partition scheduling process is as follows: Figure 5 shown.

[0113] Step 4.3: Air Mode Scheduling Design

[0114] The air mode operation zones include air input, manual search, follow-up search, automatic search, snowplow search, video tracking, spot tracking, geographic tracking, safety mode, idle mode, air output, target positioning / aircraft reverse thrust, command and control function, override equipment, and PHM fault zone. All zones operate using a priority and time schedule. Table 2 shows the air mode time schedule configuration.

[0115] In the startup mode, after waiting for more than the set time, the system will enter the air mode by default. The air mode partition scheduling first adopts the priority mode. Each partition has a priority. The highest priority partition is scheduled first. Then the time schedule is adopted and runs periodically. 0 represents the highest priority. Figure 6 shown.

Claims

1. A strong real-time and high-reliability airborne optoelectronic system partition scheduling method, characterized in that: The details are as follows: Step 1: Business characteristics and core requirements analysis Business characteristics and core requirements analysis includes analyzing business types and real-time requirements, analyzing reliability constraints, and analyzing multi-task collaboration challenges. The details are as follows: Step 1.1: Analyze business types and real-time requirements The real-time requirements of airborne optoelectronic systems cover the entire process from command generation and distribution to working status feedback; business types are divided into data acquisition business, computing business, and communication business; (1) Data acquisition services: infrared imaging data formed by the optical system through the infrared thermal imager that collects infrared radiation from the target and background; (2) Computational services: performing corresponding computations on the data collected by data collection services; (3) Communication services: Real-time communication between the optoelectronic system and the onboard mission machine, and real-time communication between components within the optoelectronic system Step 1.2: Analyze reliability constraints Analyzing reliability constraints includes analyzing fault tolerance levels and redundant design; (1) Analyze the fault tolerance level According to the DO-178C standard, missions are classified as AE. While the missions performed by the airborne electro-optical system do not affect flight safety, the target position output by the system will be included in the strike closed-loop process. To ensure this does not affect mission execution, a reliable partitioned scheduling method was developed. This approach divides fault detection and handling into separate functional partitions during design. Within each scheduling cycle, faults are handled in defined time slices to ensure reliable mission execution. (2) Redundant design To improve the reliability of the airborne optoelectronic system's functional operation, scalability and backup were considered during the partition design. A multi-core simultaneous processing mechanism was adopted. The service runtime was also evaluated, and time slices were reserved with 30% redundancy to ensure the normal operation of the functional modules. Step 1.3: Analyze the multi-task collaboration challenge In complex multi-task collaboration scenarios, considering business flow logic and timing control, software and hardware function allocation should be carried out during system design. Otherwise, there will be sharing conflicts of CPU, memory, and I / O bandwidth, and different functional modules will compete for the same computing resources simultaneously. At the same time, considering the strong real-time nature of airborne optoelectronic services, to ensure that each frame of data from the components within the optoelectronic system can be sent and reported in a timely and effective manner, and that each component can work together efficiently to achieve various functions, a partition scheduling method can be designed based on the real-time operating system to solve the challenges of "resource competition" and "timing control". That is, within a certain time slice, using certain computing resources to execute a certain task. Step 2: Multi-core processor working mode design Considering the operating system environment and the application characteristics of an airborne optoelectronic functional module, different modes under multi-core support were analyzed and compared. Ultimately, the number of cores to be used in the multi-core processor was determined. The tasks in step 1 were split into multiple subtasks, which were processed simultaneously by multiple cores. Step 3: Partition Design Partition design includes mode and partition division, startup mode operation process design, ground mode and air mode operation process design, as follows: Step 3.1: Schema and Partitioning For a certain airborne optoelectronic system, considering top-level design requirements, product usage patterns, and fault and emergency handling, multiple subtasks of the airborne optoelectronic system are assigned functional modules, and each functional module is encapsulated as an independent partition. Based on actual usage, each functional module is divided into startup mode, ground mode, and air mode according to the working mode. The startup mode serves as the entrance to the ground mode or air mode. The ground mode covers the functional modules that the equipment needs to implement during the ground maintenance and development stage; the air mode covers the functional modules that the equipment needs to implement under airborne conditions; Step 3.2: Startup Mode Operation Process Design After the operating system is initialized, it will start the mode control partition and receive external instructions. If it is a ground mode instruction, it will enter the ground mode, start the ground mode time schedule and run it periodically; if it is an air mode instruction, it will enter the air mode, start the air mode priority and time schedule and run it periodically; Step 3.3: Design of partitioned operation process for ground mode and air mode application The application partition operation process of ground mode and air mode includes initialization tasks and periodic tasks; (1) Initialization task: mainly completes the initialization of the partition operating environment and the initialization of each functional module in the partition; (2) Periodic tasks: Run the corresponding functional modules in a fixed time slice according to the set cycle; Step 4: Partition scheduling design The startup mode partition and ground mode partition are scheduled using a time schedule. The air mode partition uses a priority mode and a time schedule. The partition initialization and startup order is determined by the priority, with 0 representing the highest priority. Each partition has a priority. The priority of the startup mode partition is lower than that of other partitions in the system. Step 4.1: System mode switching process design After the computer is powered on, PBF boots up, UBOOT boots up, and the operating system is initialized, the system will enter the boot mode. The operating system boot mode controls the operation of the partition. The partition switches the system mode according to external instructions and enters the ground mode or air mode. Step 4.2: Ground Mode Scheduling Design It runs in a time schedule. In startup mode, after receiving the command to enter ground mode, the partition completes partition initialization. After all partition initialization tasks are completed, the partition will start the ground mode time schedule. At this time, the operating system starts to run the partition periodically according to the configuration of the time schedule. Step 4.3: Air Mode Scheduling Design In startup mode, after waiting for more than the set time, the system will enter air mode by default. The air mode partition scheduling first adopts the priority mode. Each partition has a priority. The highest priority partition is scheduled first, and then the time schedule is adopted and runs periodically.

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