Dual-redundancy parachute throwing system of unmanned aerial vehicle and control method of dual-redundancy parachute throwing system

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle dual-redundancy parachute throwing system and a control method thereof.The unmanned aerial vehicle dual-redundancy parachute throwing system comprises a flight control system automatic parachute throwing module and a grounding switch automatic parachute throwing module, and the flight control system automatic parachute throwing module is used for controlling a fire head switch to be turned on when a skid of an unmanned aerial vehicle touches the ground; the unmanned aerial vehicle and the parachute are automatically separated; the ground touch switch automatic parachute throwing module comprises a ground touch switch group and a transmission assembly, and when the flight control system automatic parachute throwing module fails, the transmission assembly is used for transmitting force generated at the moment when a skid of the unmanned aerial vehicle touches the ground to the ground touch switch assembly; and the grounding switch assembly is enabled to switch on the output end of the flight control system and the parachute throwing circuit of the fire head switch, so that the unmanned aerial vehicle and the parachute are automatically separated. The device solves the problem that traditional single height triggering is easy to misjudge, reduces the risk of overall failure of the system, and improves the performance of the flight control system.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a dual-redundant parachute deployment system for UAVs and its control method. Background Technology

[0002] The flight characteristics of fixed-wing drones mean they cannot hover or land at low speeds. However, for drones that use recovery parachutes, the parachute system has been upgraded from an "auxiliary function" to a core safety component. It is a key part of safe recovery and landing, playing an irreplaceable role in the drone landing process.

[0003] Research on traditional UAV parachute dropping technology mainly focuses on the design of single-redundant systems, which rely on a single trigger mechanism to achieve parachute dropping. The single-redundant parachute dropping system is not reliable enough for the current UAV landing and recovery. Once the main control circuit or the execution component fails, the parachute dropping will fail, causing damage to the UAV fuselage after landing.

[0004] Therefore, there is a need to provide a dual-redundant parachute deployment system for unmanned aerial vehicles and its control method to solve the above problems. Summary of the Invention

[0005] To address the issue that single-redundant parachute deployment systems, relying solely on a single trigger mechanism, are unreliable for current UAV landing and recovery systems, and that parachute deployment failures due to main control circuitry or actuator malfunctions can damage the UAV upon landing, this invention provides a dual-redundant parachute deployment system and its control method for UAVs to solve these problems.

[0006] The present invention provides a dual-redundant parachute deployment system for unmanned aerial vehicles (UAVs) and its control method, which adopts the following technical solution, including: The automatic parachute ejection module of the flight control system is used to control the fire switch to open when the drone's skid touches the ground, so that the drone and the parachute separate automatically. The system also includes an automatic parachute ejection module with a ground contact switch, comprising a ground contact switch assembly and a transmission assembly. The ground contact switch assembly is mounted on the outer cylinder of the drone's shock absorber. One end of the transmission assembly is connected to the skid, and the other end of the transmission assembly is opposite to the contact piece of the ground contact switch assembly. The ground contact switch assembly is connected between the flight control system and the parachute ejection circuit of the fire switch. When the automatic parachute ejection module of the flight control system fails, the transmission assembly is used to transmit the force of the drone's skid touching the ground to the contact piece of the ground contact switch assembly, so that the ground contact switch assembly connects the output terminal of the flight control system and the parachute ejection circuit of the fire switch, thereby enabling the automatic separation of the drone and the parachute.

[0007] A further technical solution of the present invention includes a grounding switch assembly comprising: The housing is fixed to one side of the shock absorber; The micro switch is located inside the box, with one end electrically connected to the parachute throwing circuit connected to the fire switch, and the other end connected to the output terminal of the flight control system. The end of the transmission component passes through the housing and is opposite to the contact of the micro switch.

[0008] A further technical solution of the present invention includes a transmission component comprising: The push rod is slidably disposed inside the box, and a limiting boss is provided on its outer periphery; a spring for the push rod to reset is provided between the limiting boss and the inner wall of the box. And a locking bolt, one end of which is connected to the skid, and the other end of which is connected to the end of the push rod that protrudes from the box through a steel cable assembly.

[0009] A further technical solution of the present invention is that the box body is provided with a box cover, the box cover is provided with a self-locking plug, one end of the self-locking plug is electrically connected to a micro switch, and the other end of the self-locking plug is used to connect to a power supply plug.

[0010] A further technical solution of the present invention includes a steel cable assembly comprising: a steel cable, the ends of which are connected to steel cable connectors, one of which is threadedly connected to the end of a push rod, and the other is threadedly connected to a locking bolt, wherein a locking nut is provided on the locking bolt.

[0011] A second aspect of the present invention provides a control method for the dual-redundant parachute deployment system of an unmanned aerial vehicle (UAV) of the first invention, comprising: After the drone enters the recovery phase, the engine stops, the flight control system sends a parachute deployment signal, and after detecting the parachute deployment signal, the parachute is deployed after a set delay time. Then the flight control system enters the parachute jettison control process. Collect the acceleration of the drone and remove outlier data to obtain the target acceleration data; The system checks whether the acceleration vector sum of the target acceleration data meets preset conditions. If the target acceleration data meets the preset conditions, the system dynamically weights and fuses the drone barometer altitude collected by the drone altitude measurement system and the satellite positioning altitude within a preset continuous period to obtain a fused altitude. When the altitude change of the fused altitude within a preset time is less than a preset altitude value, the flight control system's automatic parachute deployment module sends a parachute deployment command to the trigger switch, the trigger switch opens, and the drone and parachute automatically separate. If the target acceleration data's acceleration vector sum does not meet the preset conditions, or the altitude change of the fused altitude within a preset time is greater than or less than a preset altitude value, the flight control system's automatic parachute deployment module fails. When the automatic parachute jetting module of the flight control system fails, the automatic parachute jetting module triggered by the ground contact switch is used to automatically trigger the jetting.

[0012] In a further technical solution of the present invention, after the UAV enters the recovery phase, if the automatic parachute jetting module of the flight control system is in normal working condition, the engine stops, the flight control system sends a parachute opening signal, and after detecting the parachute opening signal, the parachute opens after a set delay time, and the flight control system enters the parachute jetting control process; if the automatic parachute jetting module of the flight control system is in a malfunctioning state, the automatic parachute jetting module of the ground contact switch is used to automatically trigger the parachute jetting.

[0013] A further technical solution of the present invention is that if both the automatic parachute ejection module of the flight control system and the automatic parachute ejection module of the ground contact switch are in a malfunctioning state, the parachute is ejected manually by sending a parachute ejection command after the UAV lands.

[0014] A further technical solution of the present invention is that when the flight control system enters the parachute jetting control process, the parachute jetting output terminal of the flight control system is set to a 28V high level.

[0015] A further technical solution of the present invention is that if the automatic parachute deployment module of the flight control system returns to normal during the landing process of the UAV, the automatic parachute deployment module of the flight control system shall continue to be used to perform the parachute deployment task.

[0016] The beneficial effects of this invention are: This invention employs a parachute deployment strategy that combines automatic parachute deployment by the UAV's flight control system with automatic parachute deployment triggered by a ground-touch switch upon landing. This integration of mechanical and electrical control ensures that the UAV can successfully deploy its parachute upon landing after stopping and opening the parachute, improving landing safety and parachute deployment reliability. Specifically, this invention utilizes a dual-redundant automatic parachute deployment system, incorporating acceleration vector sum and altitude change parameters into the deployment decision process. This addresses the issue of misjudgment inherent in traditional single-altitude triggering, reducing the risk of overall system failure and improving the performance of the flight control system. The dual-redundant system isolates the electronic control system from the mechanical triggering system, increasing the UAV's mission success rate and ensuring high reliability and safety even in extreme conditions. The dual-redundant automatic parachute deployment system also features a simple switching method, enabling the UAV to adapt to different environments, expand its operational range, support complex tasks, and can be widely adopted across various UAV systems. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a dual-redundant parachute deployment system for unmanned aerial vehicles (UAVs) according to the present invention; Figure 2 This is a schematic diagram of a ground contact switch assembly in a dual-redundant parachute throwing system for unmanned aerial vehicles (UAVs) according to the present invention. Figure 3 This is a flowchart of a control method for a dual-redundant parachute deployment system for unmanned aerial vehicles (UAVs) according to an embodiment of the present invention. Figure 4 This is a schematic diagram of the parachute ejection control process of the automatic control module of the flight control system in an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the working process of the flight control system, the automatic parachute ejection module, and the fire switch circuit in an embodiment of the present invention.

[0019] In the diagram: 1. Grounding switch assembly; 2. Shock absorber; 3. Skid; 4. Micro switch; 5. Self-locking plug; 6. Cover; 7. Box body; 8. Push rod; 9. Spring; 10. Cable connector; 11. Cable; 12. Locking nut; 13. Locking bolt. Detailed Implementation

[0020] 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.

[0021] An embodiment of the dual-redundant parachute deployment system for unmanned aerial vehicles (UAVs) of the present invention is as follows: Figure 1 and Figure 2As shown, it includes: an automatic parachute ejection module of the flight control system and an automatic parachute ejection module 1 of the ground contact switch. The automatic parachute ejection module of the flight control system is used to control the firing switch to open when the skid 3 of the UAV touches the ground, so that the UAV and the parachute automatically separate. The automatic parachute ejection module of the ground contact switch includes: a ground contact switch assembly 1 and a transmission assembly. The ground contact switch assembly 1 is set on the side of the shock absorber 2 of the UAV. One end of the transmission assembly is connected to the skid 3, and the other end of the transmission assembly is opposite to the contact piece of the ground contact switch assembly 1. The ground contact switch assembly 1 connects the parachute ejection output terminal of the flight control system and the parachute ejection circuit of the firing switch. When the automatic parachute ejection module of the flight control system fails, the transmission assembly is used to transmit the force of the skid 3 of the UAV touching the ground to the ground contact switch assembly 1, so that the ground contact switch assembly 1 connects the output terminal of the flight control system and the parachute ejection circuit of the firing switch, so that the UAV and the parachute automatically separate. It should be noted that one end of the shock absorber 2 of the drone is set on the skid 3 of the drone, and the end of the shock absorber 2 away from the skid 3 is hinged to the body of the drone. The ground contact switch assembly 1 is set on the outer cylinder of the end of the shock absorber 2 away from the skid 3. The shock absorber 2 is an existing mechanism and will not be described in detail in this embodiment.

[0022] For example, such as Figure 2 As shown, in one specific embodiment, the ground contact switch assembly 1 includes: a housing 7, which is disposed on the outer shell of the shock absorber 2; a micro switch 4 is disposed inside the housing 7; a cover 6 is disposed on the housing 7; a self-locking plug 5 is disposed on the cover 6; one end of the self-locking plug 5 is electrically connected to the micro switch 4; the other end of the self-locking plug 5 is used to electrically connect to the parachute throwing circuit connected to the fire switch; that is, one end of the micro switch 4 is electrically connected to the parachute throwing circuit connected to the fire switch through the self-locking plug 5; the other end of the micro switch 4 is connected to the output terminal of the flight control system. In the non-operating state, the micro switch 4... The contact is in the open state, meaning the microswitch 4 is not connected to the output of the flight control system or the parachute ejection circuit of the fire switch. In this embodiment, the end of the transmission component passes through the housing 7 and faces the contact of the microswitch 4. The self-locking plug 5 contains 2-3 spring contacts, allowing for quick connection and disconnection, convenient use, and reliable safety. It enables signal transmission within a limited space. The microswitch 4 and the self-locking plug 5 are connected by two wires. One end of each wire is connected to solder pads a and b of the microswitch 4, and the other end is connected to solder pads c and d of the self-locking plug. The housing 7 and the cover 6 are sealed with epoxy resin. The two wires extending from the self-locking plug 5 of the microswitch 4 are passed through the fuselage opening and welded to the two wires of the parachute ejection circuit of the fire switch on the fuselage. The solder joints are protected with sleeves and secured with cable ties. The housing 7 is then fastened to the outer cylinder of the shock absorber 2.

[0023] For example, such as Figure 2As shown, in one specific embodiment, the transmission assembly includes: a push rod 8 and a locking bolt 13. The push rod 8 is slidably disposed within the housing 7, and a limiting boss is provided on the outer periphery of the push rod 8; a spring 9 for resetting the push rod 8 is provided between the limiting boss and the inner wall of the housing 7; one end of the locking bolt 13 is connected to the skid 3, and the other end of the locking bolt 13 is connected to the end of the push rod 8 that extends out of the housing 7 via a steel cable assembly. In this embodiment, the steel cable assembly includes: a steel cable 11, with a steel cable connector 10 connected to the end of the steel cable 11. One steel cable connector 10 is threadedly connected to the end of the push rod 8, and the other steel cable connector 10 is threadedly connected to the locking bolt 13, and a locking nut 12 is provided on the locking bolt 13. It should be noted that one end of the locking bolt 13 is threaded onto the skid 3. The length of the steel cable 11 is changed by adjusting the threaded sleeves at both ends of the steel cable 11 and the steel cable connector 10, so that the contact plate of the micro switch 4 and the push rod 8 maintain a gap of about 1 to 2 mm, and the locking nut 12 is fixed.

[0024] It should be noted that, as Figure 5 As shown, when the drone lands and the automatic parachute ejection module of the flight control system fails, the output terminal of the flight control system is connected to the ground contact switch assembly 1. The shock absorber 2 mounted on the skid 3 is compressed, the steel cable 11 loosens, and the push rod 8 of the transmission assembly, under the thrust of the spring 9, pushes the spring of the micro switch 4, causing the spring of the micro switch 4 to close. This connects the 28V voltage at the parachute ejection output terminal of the flight control system. The trigger switch connects the parachute ejection circuit inside the detachment section through the self-locking plug, the detachment section operates, and the parachute separates from the drone. Secondly, the housing of the ground contact switch assembly 1 must be firmly fixed to the outer cylinder of the shock absorber 2 without any looseness. Otherwise, the micro switch 4 of the ground contact switch assembly 1 may contact prematurely, causing the parachute to be ejected in mid-air. The steel cable 11, steel cable connector 10, locking nut 12, push rod 8, spring 9, and locking bolt should all be free from damage or looseness; otherwise, it may result in premature parachute ejection in mid-air or failure to eject the parachute after landing, causing serious consequences such as damage to the drone.

[0025] A control method for a dual-redundant parachute deployment system for unmanned aerial vehicles, such as Figure 3 As shown, it includes: S1. The flight control system enters the parachute jetting control process; Specifically, after the drone enters the recovery phase, the engine stops, the flight control system sends a parachute deployment signal, and after detecting the parachute deployment signal, the parachute is deployed after a set delay time (7 seconds in this embodiment), and then the flight control system enters the parachute jettison control process.

[0026] For example, in one specific embodiment, after the UAV enters the recovery phase, if the automatic parachute ejection module of the flight control system or the automatic parachute ejection module of the ground contact switch is in normal working condition, the engine stops, the flight control system sends a parachute deployment signal, and after detecting the deployment signal, the parachute is deployed after a set delay time, and then the flight control system enters the parachute ejection control process; if both the automatic parachute ejection module of the flight control system and the automatic parachute ejection module of the ground contact switch are in a malfunctioning state, the parachute is ejected manually by sending a parachute ejection command after the UAV lands. When the flight control system enters the parachute ejection control process, the parachute ejection output terminal of the flight control system is set to a 28V high level.

[0027] S2. The flight control system's automatic parachute jetting module sends a parachute jetting command to control the automatic separation of the drone and the parachute. Specifically, the system collects the acceleration of the UAV and removes abnormal data to obtain target acceleration data. It then checks if the acceleration vector sum of the target acceleration data meets preset conditions. If the target acceleration vector sum meets the preset conditions, the system dynamically weights and fuses the UAV barometer altitude collected by the UAV altitude measurement system and the altitude measured by satellite positioning within a preset continuous period to obtain a fused altitude. If the altitude change of the fused altitude within a preset time is less than a preset altitude value, the flight control system's automatic parachute deployment module sends a parachute deployment command to the trigger switch, which opens the trigger switch, and the UAV and parachute automatically separate. If the acceleration vector sum of the target acceleration data does not meet the preset conditions, or if the altitude change of the fused altitude within a preset time is greater than or less than a preset altitude value, the flight control system's automatic parachute deployment module fails.

[0028] For example, such as Figure 4 As shown, in this embodiment, based on the acceleration in the x, y, and z directions collected by the UAV accelerometer over three sampling periods, the IQR method is used to remove outlier data from the acceleration to obtain the target acceleration in the x, y, and z directions. The steps are as follows: Step 1: Sort the target accelerations in ascending order, i.e., the target acceleration sequence in the x, y, z directions is as follows: , , .

[0029] Step 2: Calculate the quartiles: Find the first quartile (Q1) and third quartile (Q3) of the acceleration sequence data. The formula for calculating the quartile positions is as follows:

[0030]

[0031] in, This represents the number of acceleration sequence data points. If the calculated positions of the first and third quartiles are integers, the values ​​at those positions are directly taken; if the calculated results are decimals, the values ​​of Q1 and Q3 are calculated using linear interpolation.

[0032] Step 3: Calculate the interquartile range (IQR):

[0033] Step 4: Determine the range of outliers: If the acceleration value in any direction is abnormal, the acceleration data in the x, y, and z directions at the current time will be removed simultaneously.

[0034]

[0035] in, This is a multiple factor that determines how lenient or strict the outlier boundary is relative to the main data distribution. Typically, k is taken as 1.5 or 3. At that time, values ​​outside the interval are considered moderately abnormal; If the value to be removed is considered severely abnormal, it will have serious adverse consequences for data processing.

[0036] Step 5: Calculate the sum of the acceleration vectors in the x, y, and z directions: Based on the data after filtering, calculate the acceleration vector sum in the x, y, and z directions. .

[0037] If the acceleration vector sum a is in the range of 2.5g < a < 10g, then the system will use a dynamic weighting method to fuse the drone barometer altitude collected by the drone altitude measurement system within a preset continuous period with the altitude measured by satellite positioning to obtain the fused altitude.

[0038] For example, in one specific embodiment, the step of fusing the drone barometer altitude collected by the drone altitude measurement system and the satellite positioning altitude within a preset continuous period to obtain the fused altitude using a dynamic weighting method is as follows: Step 1: Use the IQR method to remove outliers from 10 consecutive frames of altitude collected by the UAV altitude measurement system and the altitude collected by the satellite; Step 2: The drone barometer altitude collected by the drone altitude measurement system and the altitude measured by satellite positioning are fused based on real-time data quality adjustment weights. The weight calculation method is as follows;

[0039] In the formula, Indicates the standard deviation of barometer altitude noise; This represents the standard deviation of altitude noise from satellite positioning measurements. Within three consecutive sampling periods, if the altitude change Δh between the UAV barometer altitude collected by the UAV altitude measurement system and the fused altitude h(t) from satellite positioning measurements is less than h=1.2 meters within t=0.5 seconds (Δh=|h(t)-h(t-t1)|<h), and the acceleration vector sum a is within the range of 2.5g<a<10g, then the automatic parachute deployment module of the flight control system sends a parachute deployment command to the trigger switch, the trigger switch opens, and the UAV and parachute automatically separate. Otherwise, if the altitude change between the UAV barometer altitude collected by the UAV altitude measurement system and the fused altitude from satellite positioning measurements is greater than or equal to 1.2 meters within 0.5 seconds, or if the acceleration vector sum a is not within the range of 2.5g<a<10g, the automatic parachute deployment module of the flight control system fails.

[0040] S3. If the automatic parachute jetting module of the flight control system fails, the automatic parachute jetting module of the ground contact switch will be used to automatically trigger the jetting.

[0041] Specifically, when the drone lands and the automatic parachute ejection module of the flight control system fails, the output terminal of the flight control system is connected to the ground contact switch assembly 1. The shock absorber 2 installed on the skid 3 is compressed, the steel cable 11 is loosened, and the push rod 8 of the transmission assembly is pushed by the spring 9, causing the push rod 8 to push the spring of the micro switch 4, causing the spring of the micro switch 4 to close, thereby connecting the 28V voltage at the parachute ejection output terminal of the flight control system. That is, the fire switch connects the parachute ejection circuit in the detachment section through the self-locking plug, the detachment section works, and the parachute separates from the drone.

[0042] It should be noted that if the automatic parachute deployment module of the flight control system recovers during the drone's descent, the automatic parachute deployment module will continue to be used for the parachute deployment task. After the drone enters the recovery phase, if the automatic parachute deployment module of the flight control system is in normal working condition, the engine will shut down, the flight control system will issue a parachute deployment signal, and after detecting the deployment signal, the parachute will deploy after a set delay time, and then the flight control system will enter the parachute deployment control process. If the automatic parachute deployment module of the flight control system is in a malfunctioning state, the automatic parachute deployment module of the ground contact switch will be used to automatically trigger the parachute deployment. If both the automatic parachute deployment module of the flight control system and the automatic parachute deployment module of the ground contact switch are in a malfunctioning state, the parachute will be deployed manually after the drone lands, ensuring that the parachute separates from the drone body and avoiding damage to the drone body.

[0043] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-redundant parachute deployment system for unmanned aerial vehicles (UAVs), characterized in that, include: The automatic parachute ejection module of the flight control system is used to control the fire switch to open when the drone's skid touches the ground, so that the drone and the parachute separate automatically. The system also includes an automatic parachute ejection module with a ground contact switch, comprising a ground contact switch assembly and a transmission assembly. The ground contact switch assembly is mounted on the outer cylinder of the drone's shock absorber. One end of the transmission assembly is connected to the skid, and the other end of the transmission assembly is opposite to the contact piece of the ground contact switch assembly. The ground contact switch assembly is connected between the flight control system and the parachute ejection circuit of the fire switch. When the automatic parachute ejection module of the flight control system fails, the transmission assembly is used to transmit the force of the drone's skid touching the ground to the contact piece of the ground contact switch assembly, so that the ground contact switch assembly connects the output terminal of the flight control system and the parachute ejection circuit of the fire switch, thereby enabling the automatic separation of the drone and the parachute.

2. The dual-redundant parachute deployment system for unmanned aerial vehicles according to claim 1, characterized in that, The grounding switch assembly includes: The housing is fixed to one side of the shock absorber; The micro switch is located inside the box, with one end electrically connected to the parachute throwing circuit connected to the fire switch, and the other end connected to the output terminal of the flight control system. The end of the transmission component passes through the housing and is opposite to the contact of the micro switch.

3. The dual-redundant parachute deployment system for unmanned aerial vehicles according to claim 2, characterized in that, The transmission components include: The push rod is slidably disposed inside the box, and a limiting boss is provided on its outer periphery; a spring for the push rod to reset is provided between the limiting boss and the inner wall of the box. And a locking bolt, one end of which is connected to the skid, and the other end of which is connected to the end of the push rod that protrudes from the box through a steel cable assembly.

4. The dual-redundant parachute deployment system for unmanned aerial vehicles according to claim 2, characterized in that, The box body is equipped with a lid, and the lid is equipped with a self-locking plug. One end of the self-locking plug is electrically connected to a micro switch, and the other end of the self-locking plug is used to connect to a power supply plug.

5. A dual-redundant parachute deployment system for unmanned aerial vehicles according to claim 3, characterized in that, The cable assembly includes: a cable, with cable connectors at the ends of the cable, one cable connector being threaded to the end of the push rod, and the other cable connector being threaded to a locking bolt, with a locking nut provided on the locking bolt.

6. A control method for a dual-redundant parachute deployment system for an unmanned aerial vehicle (UAV) according to any one of claims 1-5, characterized in that, include: After the drone enters the recovery phase, the engine stops, the flight control system sends a parachute deployment signal, and after detecting the parachute deployment signal, the parachute is deployed after a set delay time. Then the flight control system enters the parachute jettison control process. Collect the acceleration of the drone and remove outlier data to obtain the target acceleration data; Does the acceleration vector sum of the target acceleration data meet the preset conditions? If the acceleration vector sum of the target acceleration data meets the preset conditions, the drone's barometer altitude collected by the drone altitude measurement system and the altitude measured by satellite positioning within the preset continuous period are dynamically weighted to obtain the fused altitude. When the altitude change of the fused altitude within the preset time is less than the preset altitude value, the flight control system's automatic parachute deployment module sends a parachute deployment command to the trigger switch, the trigger switch is opened, and the drone and parachute automatically separate. If the acceleration vector sum of the target acceleration data does not meet the preset conditions, or the altitude change of the fused altitude within the preset time is greater than or less than the preset altitude value, the flight control system's automatic parachute deployment module fails. When the automatic parachute jetting module of the flight control system fails, the automatic parachute jetting module triggered by the ground contact switch is used to automatically trigger the jetting.

7. The control method for a dual-redundant parachute deployment system for unmanned aerial vehicles according to claim 6, characterized in that, Once the drone enters the recovery phase, if the automatic parachute jetting module of the flight control system is in normal working condition, the engine will stop, the flight control system will send a parachute deployment signal, and after detecting the deployment signal, the parachute will be deployed after a set delay time, and then the flight control system will enter the parachute jetting control process; if the automatic parachute jetting module of the flight control system is in a malfunctioning state, the automatic parachute jetting module of the ground contact switch will be used to automatically trigger the jetting.

8. The control method for a dual-redundant parachute deployment system for unmanned aerial vehicles according to claim 7, characterized in that, If both the automatic parachute ejection module of the flight control system and the automatic parachute ejection module of the ground contact switch are in a malfunctioning state, the parachute will be ejected manually by sending a parachute ejection command after the UAV lands.

9. The control method for a dual-redundant parachute deployment system for an unmanned aerial vehicle (UAV) according to claim 6, characterized in that, When the flight control system enters the parachute jetting control process, the parachute jetting output terminal of the flight control system is set to a 28V high level.

10. The control method for a dual-redundant parachute deployment system for an unmanned aerial vehicle (UAV) according to claim 6, characterized in that, If the automatic parachute deployment module of the flight control system returns to normal during the drone's descent, the automatic parachute deployment module of the flight control system will continue to be used for the parachute deployment task.

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