Service software framework of airborne system of unmanned aerial vehicle, starting method, equipment and medium

Abstract

The invention relates to the technical field of airborne system design, and discloses a service software framework of an unmanned aerial vehicle airborne system, a starting method, equipment and a medium, and an attribute configuration module ensures that attribute information of each atomic service is accurately defined. And the operation support module comprehensively standardizes the operation state of the atomic service through a preset operation basic function, a memory processing component and a log recording component. And the priority scheduling module establishes a priority configuration table according to the scheduling priorities of the atomic services, so that ordered starting and running of the atomic services are realized. Through a service software framework constructed by an attribute configuration module, an operation support module and a priority scheduling module and a starting method, integrated deployment and efficient operation of atomic services in an unmanned helicopter airborne system are realized, and the efficiency of atomic service software development, deployment and independent upgrading can be improved.

Description

Technical Field

[0001] This invention relates to the field of airborne system design technology, and discloses a service software framework, startup method, device, and medium for an unmanned aerial vehicle (UAV) airborne system. Background Technology

[0002] Unmanned helicopters, as an important carrier of the low-altitude economy, possess characteristics such as intelligent operation, high speed and maneuverability, low cost, easy maintenance, and high safety. They are not only suitable for passenger transport but also for cargo transport, public services, private flights, police security, environmental monitoring, and many other applications. Many provinces have included the "low-altitude economy" in their government work reports. In the related market, over a hundred companies have emerged globally. The airborne system is crucial for the safe operation of unmanned helicopters, directly affecting performance, range, and safety. While airborne system software is still in the exploratory stage, a service-oriented architecture (SOA) is the mainstream development direction, helping to reduce system complexity. Currently, however, a unified standard and system have not yet been formed for the modularization and standardization of service layer software based on SOA architecture, making it difficult to reduce the complexity of airborne systems and hindering the development and innovation of the unmanned helicopter field. Summary of the Invention

[0003] The purpose of this invention is to provide a service software framework, startup method, device, and medium for unmanned aerial vehicle (UAV) airborne systems, which can standardize the integrated deployment and operation of atomic services in airborne systems and improve the efficiency of atomic service software development, deployment, and independent upgrades.

[0004] To achieve the above-mentioned technical effects, the technical solution adopted by the present invention is as follows: A service software framework for unmanned aerial vehicle (UAV) onboard systems, designed for UAV / helicopter onboard systems, including: An attribute configuration module is used to define the attribute information of each atomic service in the unmanned helicopter airborne system. The runtime support module is used to define the runtime state of atomic services according to preset runtime basic functions, memory processing components, and logging components. The priority scheduling module is used to obtain the scheduling priority in the atomic service attribute information loaded into the service software framework, establish a priority configuration table according to the order of scheduling priorities, and then start and run each atomic service in sequence according to the order.

[0005] Furthermore, the attribute information defined by the attribute configuration module includes the service name, service identifier, version number, maximum stack space, maximum heap space, importance level, scheduling priority, and deployment type of the atomic service.

[0006] Furthermore, the method for determining the service identifier of the atomic service includes: Obtain the attribute information of the atomic service and serialize it to obtain the byte sequence corresponding to the attribute information of the atomic service; The byte sequence is mapped to a corresponding hash value using a hash function; The hash value is mapped to the DHT hash space to obtain the service ID value, which is then used as the service identifier of the atomic service.

[0007] Furthermore, the basic runtime functions include an atomic service creation function, an atomic service startup function, an external command processing function, an atomic service termination function, and an atomic service destruction function.

[0008] Furthermore, the basic runtime functions include an atomic service creation function, an atomic service startup function, an external command processing function, an atomic service termination function, and an atomic service destruction function.

[0009] Furthermore, the priority configuration table includes the service name, service identifier, importance level, and scheduling priority of the atomic service.

[0010] Furthermore, the method for determining the scheduling priority of the atomic service includes: Obtain the initial scheduling priority of the atomic services currently loaded into the service software framework, and select one atomic service as the target atomic service to analyze the relationship between the target atomic service and other atomic services; Based on the initial scheduling priority of the target atomic service and the association between the target atomic service and other atomic services, the improved graph theory PageRank algorithm is used to analyze and obtain the calculated scheduling priority of the target atomic service. Iterate through all atomic services currently loaded into the service software framework and determine the scheduling priority of each atomic service after calculation.

[0011] A method for starting the service software framework of an unmanned aerial vehicle (UAV) onboard system, implemented based on the aforementioned service software framework, includes: After the airborne system is powered on, the attribute configuration module reads the attribute information of each atomic service and establishes an atomic service configuration table that includes the attribute information of all atomic services. Determine whether all atomic services have been fully loaded. If so, the service software framework has started successfully. Otherwise, determine whether the deployment type of the currently unloaded atomic services is persistent. If the deployment type of the currently unloaded atomic service is non-resident, then obtain the memory resources required by the currently unloaded atomic service according to the atomic service configuration table; otherwise, determine whether all atomic services have been fully loaded. Based on the memory resources required by the currently unloaded atomic services, locate and call the atomic service creation function and atomic service startup function in the runtime support module to start the currently unloaded atomic services. Then, determine whether all atomic services have been loaded, until the service software framework has been started.

[0012] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the service software framework startup method of the unmanned aerial vehicle (UAV) onboard system.

[0013] A computer-readable storage medium storing a computer program that performs the service software framework startup method of the unmanned aerial vehicle (UAV) onboard system.

[0014] Compared with the prior art, the beneficial effects of this invention are: The attribute configuration module of this invention ensures that the attribute information of each atomic service is accurately defined, providing a solid foundation for subsequent operation and management. The operation support module comprehensively regulates the operational status of atomic services through preset basic operation functions, memory processing components, and logging components, ensuring service stability and reliability. The priority scheduling module establishes a priority configuration table based on the scheduling priorities of atomic services, enabling the orderly startup and operation of each atomic service, further improving the overall performance and efficiency of the system. The service software framework constructed through these three modules—attribute configuration, operation support, and priority scheduling—achieves integrated deployment and efficient operation of atomic services in the unmanned helicopter airborne system, improving the efficiency of atomic service software development, deployment, and independent upgrades. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the service software framework for the unmanned helicopter airborne system in the embodiment. Figure 2 This is a structural diagram of the attribute configuration module in the embodiment; Figure 3 This is a schematic diagram of the structure of the running support module in the embodiment; Figure 4 This is a schematic diagram of the priority scheduling module in the embodiment; Figure 5 This is a flowchart of the service software framework startup method for an unmanned helicopter airborne system in the embodiment. Figure 6 This is a structural block diagram of the computer device in the embodiment; Wherein, 1-memory, 2-processor. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the embodiments and accompanying drawings. However, this should not be construed as limiting the scope of the above-described subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0017] See Figure 1 and Figure 4 This invention is aimed at unmanned helicopter airborne systems. Based on the SOA software architecture with hardware and software decoupling, it provides a service software framework for unmanned helicopter airborne systems to realize the integrated deployment and operation of atomic services in unmanned helicopter airborne systems. The service software framework includes an attribute configuration module, an operation support module, and a priority scheduling module.

[0018] In this embodiment, see Figure 2 The attribute configuration module is used to define the attribute information of each atomic service. The attribute information defined by the attribute configuration module includes the service name, service identifier, version number, maximum stack space, maximum heap space, importance level, scheduling priority, and deployment type of the atomic service. The service name of the atomic service is a string that can be customized and can be represented by a combination of letters, numbers, and underscores; the atomic service name cannot be repeated. The service identifier (UUID) of the atomic service is a 128-bit value, in the format xxxxxxxx-xxxx-xxxx-xxxx-xxxxxxxxxxxx, generated using a variant of the Distributed Hash Table (DHT) algorithm. Furthermore, the service identifier of each atomic service cannot be repeated and corresponds one-to-one with the service name, serving as a unique identifier for the atomic service together with the service name. The maximum stack space limits the maximum stack memory size required for the atomic service to run. The maximum heap space limits the maximum heap memory size required for the atomic service to run. The importance level of the atomic service is defined according to the actual function carried by the atomic service in the onboard system. The scheduling priority of atomic services ranges from 0 to 65535, with smaller values ​​indicating higher priority and 0 representing the highest priority. The scheduling priority is used by the software service framework to determine the priority of atomic service startup, resource allocation, and runtime scheduling. Atomic services are deployed in two types: persistent and non-persistent. Persistent services start with the system and remain running continuously; non-persistent services start when invoked and terminate after completing their tasks.

[0019] In this embodiment, see Figure 3 The runtime support module is used to standardize the runtime state of atomic services according to preset runtime base functions, memory processing components, and logging components. The runtime support module includes runtime base functions, memory processing components, and logging components, wherein: (1) The basic functions include the atomic service creation function (create), the atomic service startup function (init), the external command processing function (commandProcess), the atomic service termination function (end), and the atomic service destruction function (destroy). The atomic service creation function (create) is called by the service software framework before the atomic service starts to prepare initialization data. The atomic service startup function (init) is called by the software framework when the atomic service starts to start the atomic service program. The external command processing function (commandProcess) is triggered by the interface called by the external program when the atomic service is running. The atomic service termination function (end) is called by the software framework when the atomic service ends. The atomic service destruction function (destroy) is called by the service software framework after the atomic service ends to destroy the resources used by the atomic service.

[0020] It should be noted that after the service software framework starts, the attribute configuration module reads the attribute configuration files of each atomic service. The service software framework first allocates runtime resources by calling the atomic service creation function (create), specifically including: creating processes and threads, allocating stack memory, allocating service IDs, loading functional dependency libraries, reading configuration files, and allocating disk storage space. The next step is to execute the atomic service startup function (init) to start the processes and threads. When an external module uses an atomic service function, the data will first be forwarded to the corresponding atomic service's internal interface through the service software framework's external command processing function (commandprocess) to complete the use of the corresponding atomic service function. The end function (end) is used to stop the atomic service's process and thread from running, meaning the computer CPU will no longer execute the atomic service. The stack resources, service ID, and loaded functional dependency libraries allocated during atomic service creation will be cleaned up in the atomic service destruction function (destroy). The service ID is the service identifier of the atomic service.

[0021] It should be noted that, during the runtime of the service software framework, the method by which the atomic service creation function (create) assigns a service ID value to the atomic service includes: Step 1: Using the formula atomic service Serialize the attribute information to obtain the corresponding byte sequence. In the formula, Indicates atomic service A collection of attribute configuration information, the collection includes ,in The first atomic service Each attribute (such as service name, function identifier, version number, etc.) Serving the Atom The total number of attributes; Indicates the attribute serialization function; Represents a sequence of bytes; Functions are used to process unstructured sets of attributes Convert to a unique byte sequence Byte sequences of different atomic services different.

[0022] Step 2: Use a hash function to map the byte sequence to the corresponding hash value. The expression is ,in, express Collision-resistant hash functions can be SHA-256, HMAC, etc. This represents the hash value, which is a natural number.

[0023] Step 3: Transfer the hash value Mapping to the DHT hash space yields a service ID value, which is the atomic service. The corresponding service identifier, expressed as: In the formula, Indicates atomic service Service ID; 2m represents the size of the DHT hash space, where m is the number of hash bits and is related to the memory size for storing atomic service IDs. For example, m=16 corresponds to M=65525, meaning the range of service ID values ​​is [0,M−1].

[0024] It should be noted that the external command processing function (commandprocess) contains a task queue and historical processing efficiency records. When the service software framework is running, and a new task arrives at the external command processing function, the function checks the number of tasks in the current queue and estimates the waiting time for the new task based on historical processing efficiency. If the estimated waiting time exceeds the task timeout threshold, it directly returns "Busy" and issues an alert to the task initiator to avoid unnecessary queue waiting and resource waste. The formula for calculating the estimated waiting time is: ;in, This indicates that new task data has arrived at the interface from an external call. The estimated time interval between when a new task is actually processed, in milliseconds; Interface The remaining time for the currently being processed, in milliseconds; Interface The number of tasks currently waiting to be executed in the task queue; This indicates an interface derived from historical processing data. The average efficiency of processing a task, measured in tasks per millisecond.

[0025] It should be noted that the interface These are the functional interfaces of the loaded atomic services. After an atomic service is loaded by the service software framework, it will have multiple functional interfaces. The use of these interfaces is handled by the service software framework's commandProcess. After receiving an external request, the external command processing function forwards the data to the interface of the already started and loaded atomic service.

[0026] After receiving an external request, the external command processing function forwards the data to the interface of the already started and loaded atomic service. The specific interface is set by the atomic service and is not involved in the service software framework. (2) The memory processing component is a memory allocation, usage and destruction function defined by the service software framework. The service software framework manages the allocation, recording and destruction of memory. The number of memory requests for the atomic service is recorded through the stack memory in the atomic service attribute configuration module. When the maximum stack memory is exceeded, an error will be reported in the memory processing method.

[0027] (3) The logging component is a logging and storage function defined by the service software framework. The service software framework uniformly manages the runtime log printing and storage of atomic services. The logging / storage function is divided into four levels: error, alarm, prompt, and debugging. Error refers to the log level printed when an error occurs in the atomic service; alarm refers to the log level printed when the atomic service needs to provide information warnings but does not affect operation; prompt refers to the log level used when the atomic service needs to print and record prompt information during runtime; debugging refers to the log level used in the debugging / testing phase of the atomic service, and this level is not used in the official release.

[0028] In this embodiment, see Figure 4 The priority scheduling module is used to manage and decide the scheduling priority of atomic services. When the service software framework starts, it reads the attribute information of the atomic services to be loaded, establishes a priority configuration table, and then starts and runs each atomic service in sequence according to the order in the priority configuration table.

[0029] In this embodiment, during the runtime of the service software framework, the attribute configuration module reads the attribute configuration information of each atomic service and obtains the scheduling priority of each atomic service. The ranking value of the scheduling priority ranges from 0 to 65535, with a smaller ranking value indicating a higher priority. Based on the ranking value of the scheduling priority, the atomic services are classified into importance levels. Specifically, a ranking value of 0 to 299 corresponds to an important level, while a ranking value of 300 to 65535 corresponds to a general level. Furthermore, the priority scheduling module divides the scheduling of the two importance levels into two non-interfering task queues. That is, when the scheduling of two atomic services with a priority of 299 and a priority of 300 arrives simultaneously, the atomic service with a priority of 299 runs in the important level queue, while the atomic service with a priority of 300 runs in the general level queue. Both can be scheduled simultaneously.

[0030] When the priority scheduling module performs scheduling, it also sets a maximum waiting time threshold, `maxWaitTime`. When the waiting time of an atomic service exceeds the maximum waiting time threshold `maxWaitTime`, the priority scheduling module will dynamically increase the priority of that atomic service. For example, if an atomic service with a scheduling priority of 299 waits for more than `maxWaitTime`, the priority scheduling module will temporarily increase its priority to the highest scheduling priority of 0, and schedule it with priority. After this temporary upgrade is completed, the atomic service will still be scheduled according to its original priority of 299 in subsequent scheduling.

[0031] In this embodiment, the method for determining the scheduling priority of the atomic service includes: Step M1: Obtain the initial scheduling priority of the atomic services currently loaded into the service software framework, and select any atomic service as the target atomic service to analyze the relationship between the target atomic service and other atomic services; the initial scheduling priority is given manually.

[0032] Step M2: Based on the initial scheduling priority of the target atomic service and the association between the target atomic service and other atomic services, the improved graph theory PageRank algorithm is used to analyze and obtain the calculated scheduling priority of the target atomic service. Specifically, after the atomic service creation function (create) assigns service ID values ​​to each atomic service, the priority scheduling module uses "service-related scheduling priority calculation" to analyze the relationship between the target atomic service and other services. It then uses an improved graph theory PageRank algorithm to perform a secondary calculation and processing on the target atomic service's scheduling priority, obtaining the calculated scheduling priority of the target atomic service, i.e., the final scheduling priority. The calculation formula is as follows: In the formula, Indicates the first Atom service That is, the target atomic service to be analyzed. ; Indicates the first Atom service In the Scheduling priority after the next iteration; : indicates the first Atom service In the Scheduling priority after the next iteration ; Indicates the first Atom service The initial scheduling priority; This indicates a manually set priority weight. This is used to balance the initial priority with the impact of related services, when the target atomic service The initial scheduling priority level is relatively accurate, but to reduce the impact of other dependent services on the priority level, those skilled in the art adjust it based on experience. If the value is larger, take the larger value; otherwise, take the smaller value. Indicates dependency on atomic services The collection of all services; Indicates dependency on atomic services The total number of all atomic services.

[0033] Target atomic service When the number of iterations At that time, substitute the initial scheduling priority of the target atomic service into Calculations yielded The value, and The value is used as the next iteration. time The value is calculated; when the number of iterations... At that time, The value as Calculations were performed to obtain The value of the iteration number; At that time, The value as Calculations were performed to obtain The value is used for iteration. The iteration count is then used to determine the value. At the same time, after each iteration, the absolute value of the difference between the scheduling priorities obtained from two adjacent iterations is calculated. When the absolute value of the difference is less than a preset convergence threshold, the iteration ends, and the scheduling priority obtained in the last iteration is used as the scheduling priority calculated for the target atomic service, i.e., the final scheduling priority. The preset convergence threshold can be adjusted according to actual conditions, for example, set to 10. -6 .

[0034] Step M3: Traverse all atomic services currently loaded into the service software framework and determine the scheduling priority of each atomic service after calculation.

[0035] The final scheduling priority of the target atomic service is obtained through the above calculation formula and placed in the attribute configuration of the target atomic service. At the same time, the final scheduling priority of all atomic services in the airborne system is determined by the "scheduling priority calculation based on service association" method.

[0036] Since the degree to which an atomic service supports other atomic services often determines its importance, the scheduling priority determination method of the present invention takes into account the correlation between atomic services. Compared with the method of determining priority by simply relying on numerical values, the scheduling priority determination method of the present invention can better reflect the actual importance of atomic services in the entire airborne system.

[0037] The attribute configuration module of this invention ensures that the attribute information of each atomic service is accurately defined, providing a solid foundation for subsequent operation and management. The operation support module comprehensively regulates the operational status of atomic services through preset basic operation functions, memory processing components, and logging components, ensuring service stability and reliability. The priority scheduling module establishes a priority configuration table based on the scheduling priority of atomic services, enabling the orderly startup and operation of each atomic service, further improving the overall performance and efficiency of the system. The service software framework constructed through these three modules—attribute configuration, operation support, and priority scheduling—achieves integrated deployment and efficient operation of atomic services in the unmanned helicopter airborne system. This improves the efficiency of atomic service software development, deployment, and independent upgrades, facilitating rapid iterative innovation of airborne system software.

[0038] Based on the same inventive concept, see [link to inventive concept] Figure 5 The present invention also provides a method for starting the service software framework of an unmanned aerial vehicle (UAV) onboard system, including: After the airborne system is powered on, the attribute configuration module reads the attribute information of each atomic service and establishes an atomic service configuration table that includes the attribute information of all atomic services. Determine whether all atomic services have been fully loaded. If so, the service software framework has started successfully. Otherwise, determine whether the deployment type of the currently unloaded atomic services is persistent. If the deployment type of the currently unloaded atomic service is non-resident, then obtain the memory resources required by the currently unloaded atomic service according to the atomic service configuration table; otherwise, return to determine whether all atomic services have been fully loaded. Based on the memory resources required by the currently unloaded atomic services, locate and call the atomic service creation function and atomic service startup function in the runtime support module to start the currently unloaded atomic services, and then return to determine whether all atomic services have been loaded, until the service software framework has been started.

[0039] In this embodiment, a computer device is provided, such as Figure 6 As shown, the system includes a memory 1, a processor 2, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the aforementioned service software framework and operating method for an unmanned helicopter airborne system. Specifically, the computer device can be a computer terminal, a server, or a similar computing device.

[0040] In this embodiment, a computer-readable storage medium is provided, which stores a computer program that executes the above-described service software framework and operation method for an unmanned helicopter airborne system.

[0041] Specifically, computer-readable storage media, including both permanent and non-permanent, removable and non-removable media, can store information using any method or technology. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer-readable storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable storage media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0042] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A service software framework for an unmanned aerial vehicle (UAV) airborne system, designed for UAV helicopter airborne systems, characterized in that: include: An attribute configuration module is used to define the attribute information of each atomic service in the unmanned helicopter airborne system. The runtime support module is used to define the runtime state of atomic services according to preset runtime basic functions, memory processing components, and logging components. The priority scheduling module is used to obtain the scheduling priority in the atomic service attribute information loaded into the service software framework, establish a priority configuration table according to the order of scheduling priorities, and then start and run each atomic service in sequence according to the order.

2. The service software framework of the UAV airborne system according to claim 1, characterized in that, The attribute information defined by the attribute configuration module includes the service name, service identifier, version number, maximum stack space, maximum heap space, importance level, scheduling priority, and deployment type of the atomic service.

3. The service software framework of the UAV airborne system according to claim 1, characterized in that, The method for determining the service identifier of the atomic service includes: Obtain the attribute information of the atomic service and serialize it to obtain the byte sequence corresponding to the attribute information of the atomic service; The byte sequence is mapped to a corresponding hash value using a hash function; The hash value is mapped to the DHT hash space to obtain the service ID value, which is then used as the service identifier of the atomic service.

4. The service software framework of the UAV airborne system according to claim 1, characterized in that, The basic runtime functions include atomic service creation function, atomic service startup function, external command processing function, atomic service termination function, and atomic service destruction function.

5. The service software framework of the UAV airborne system according to claim 4, characterized in that, The basic runtime functions include atomic service creation function, atomic service startup function, external command processing function, atomic service termination function, and atomic service destruction function.

6. The service software framework of the UAV airborne system according to claim 1, characterized in that, The priority configuration table includes the service name, service identifier, importance level, and scheduling priority of the atomic service.

7. The service software framework of the UAV airborne system according to claim 1, characterized in that, The method for determining the scheduling priority of the atomic service includes: Obtain the initial scheduling priority of the atomic services currently loaded into the service software framework, and select one atomic service as the target atomic service to analyze the relationship between the target atomic service and other atomic services; Based on the initial scheduling priority of the target atomic service and the association between the target atomic service and other atomic services, the improved graph theory PageRank algorithm is used to analyze and obtain the calculated scheduling priority of the target atomic service. Iterate through all atomic services currently loaded into the service software framework and determine the scheduling priority of each atomic service after calculation.

8. A method for starting the service software framework of an unmanned aerial vehicle (UAV) airborne system, implemented based on the service software framework of the UAV airborne system as described in any one of claims 1-7, characterized in that, include: After the airborne system is powered on, the attribute configuration module reads the attribute information of each atomic service and establishes an atomic service configuration table that includes the attribute information of all atomic services. Determine whether all atomic services have been fully loaded. If so, the service software framework has been successfully started. Conversely, determine whether the deployment type of the currently unloaded atomic service is persistent; If the deployment type of the currently unloaded atomic service is non-resident, then obtain the memory resources required by the currently unloaded atomic service according to the atomic service configuration table; otherwise, determine whether all atomic services have been fully loaded. Based on the memory resources required by the currently unloaded atomic services, locate and call the atomic service creation function and atomic service startup function in the runtime support module to start the currently unloaded atomic services. Then, determine whether all atomic services have been loaded, until the service software framework has been started.

9. A computer device comprising a memory (1), a processor (2), and a computer program stored in the memory (1) and executable on the processor (2), characterized in that, When the processor (2) executes the computer program, it implements the service software framework startup method of the UAV airborne system as described in claim 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that executes the service software framework startup method of the UAV airborne system according to claim 8.

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