GNC control high-performance computing and communication data link integrated machine and control method

Abstract

The application provides a GNC control high-performance computing and communication data chain integrated machine and a control method. The integrated machine comprises a baseband board and a radio frequency board in the same shell. The fusion system on chip of the baseband board comprises a processing system partition and a programmable logic partition. The processing system partition forms a state snapshot based on flight state data and communication state data in the same decision cycle, generates multiple adjustment candidates, and performs link state prediction and flight safety constraint screening on each candidate to determine a target candidate. The GNC control quantity and the radio frequency control quantity in the target candidate are packaged as a joint control transaction with an associated effective relationship, and are pre-checked and associatedly executed by the processing system partition and the programmable logic partition respectively. After execution, the prediction result is verified according to feedback carrying a transaction identifier, and the link prediction parameter is updated or the candidate is regenerated. The application can reduce the control conflict and cross-domain state inconsistency caused by the independent GNC and communication control.

Description

Technical Field

[0001] This application belongs to the field of aircraft control technology, and in particular relates to a GNC control high-performance computing and communication data link integrated machine and control method. Background Technology

[0002] Small UAVs, loitering platforms, and other aircraft equipment are typically equipped with flight control computers, navigation computers, mission computers, and independent communication data link devices. Each device has its own processor, memory, power conversion circuitry, external connectors, and heat dissipation structure. These devices exchange status and control data via Ethernet, serial buses, or discrete interfaces. This discrete architecture occupies significant installation space, resulting in a large system size and overall dimensions when stacked, making it difficult to fit into the limited space required for miniature loitering munitions and small aircraft payloads. Furthermore, there is significant redundancy in hardware resources, leading to high overall power consumption. The independent clocks and processing logic of the devices prevent real-time synchronization of guidance-navigation-control (GNC) flight status with data link communication status. This also limits adaptive adjustments to operating parameters in the face of link interference and changes in aircraft attitude, restricting formation coordination and anti-interference performance. Summary of the Invention

[0003] In view of this, this application aims to propose an integrated machine and control method for GNC control high-performance computing and communication data link. It integrates GNC computing, baseband processing, radio frequency transceiver and networking communication within the same airborne equipment, and enables flight control and communication link control to make collaborative decisions and perform associated execution based on the same state snapshot. Under the constraints of limited computing power, power and flight safety, it can treat GNC control resources and communication control resources as alternative or joint resources under the same link risk, and complete candidate generation, prediction and evaluation, safety screening, associated execution and feedback correction.

[0004] To achieve the above objectives, the technical solution of this application is implemented as follows:

[0005] This application provides a high-performance computing and communication data link integrated machine for GNC control, including a baseband board and an RF board disposed in the same housing. The baseband board includes a fused system-on-a-chip (SoC), which includes a processing system partition and a programmable logic partition. The RF board is provided with an RF transceiver link connected to the programmable logic partition. The processing system partition is configured to acquire flight status data and communication status data formed by the programmable logic partition. Based on the flight status data and communication status data within the same decision cycle, a status snapshot is formed. Multiple control candidates are generated for the status snapshot, including at least RF-only adjustment candidates, GNC-only adjustment candidates, and GNC and RF joint adjustment candidates. Candidate link state prediction and flight safety constraint screening are performed. Target control candidates are determined from the screened control candidates, and the GNC control quantities and RF control quantities in the target control candidates are encapsulated into joint control transactions with associated effectiveness. The processing system partition and programmable logic partition respectively perform execution condition checks on the joint control transactions, and execute the corresponding GNC control quantities and RF control quantities according to the associated effectiveness when the check passes. The processing system partition is also configured to verify the candidate link state prediction results based on the execution feedback carrying the decision identifier of the joint control transaction, and update the link prediction parameters used in subsequent decision cycles or regenerate control candidates based on the verification results.

[0006] Therefore, by integrating GNC computing, baseband processing, RF transceiver and networking communication within the same airborne equipment, and enabling flight control and communication link control to make collaborative decisions and perform associated execution based on the same state snapshot, GNC control resources and communication control resources are made substitutable or jointly available under the same link risk. This avoids local optima or control conflicts caused by the independence of communication link control and flight control, improves the consistency of multi-node frequency hopping parameter updates under dynamic interference environments, and enables link prediction to be constrained by actual execution results.

[0007] Furthermore, the processing system partition is used to perform GNC calculation, state snapshot generation, control candidate generation, security constraint judgment, joint control transaction management, and link prediction parameter update; the programmable logic partition is used to perform baseband modulation and demodulation, channel encoding and decoding, frequency hopping control, time division multiple access networking, link measurement, RF control quantity pre-check, and RF control quantity loading; the processing system partition and the programmable logic partition exchange data through an on-chip high-speed bus and a structured shared memory area. Each state snapshot and control transaction in the shared memory area includes a version identifier, timestamp, validity identifier, and integrity verification information.

[0008] Furthermore, flight status data includes at least two of the following: position, velocity, attitude, angular velocity, remaining energy, and flight safety constraints; communication status data includes at least two of the following: received signal strength, signal-to-noise ratio, packet error rate, round-trip time, synchronization deviation, power detection value, phase-locked state, frequency occupancy status, and data age.

[0009] Furthermore, the processing system partition determines the effective link margin for controlling candidate generation based on the basic link margin, measurement fluctuation degree, antenna pattern loss caused by attitude, synchronization deviation, data age, and link margin change trend, and restricts track control authority when the data age exceeds the threshold or the measurement confidence is insufficient.

[0010] Furthermore, the adjustable quantities of the radio frequency (RF) individual adjustment candidate include at least one of transmit power, modulation and coding scheme, receive gain, service rate, and frequency hopping set; the adjustable quantities of the GNC individual adjustment candidate include at least one of heading, altitude, speed, and permissible attitude; the GNC and RF joint adjustment candidate includes at least one adjustable quantity of the RF individual adjustment candidate and at least one adjustable quantity of the GNC individual adjustment candidate; when the RF individual adjustment candidate, the GNC individual adjustment candidate, and the GNC and RF joint adjustment candidate are all infeasible, a degradation candidate is generated; wherein, the degradation candidate includes return to home, hovering, relay hold, or non-critical service degradation.

[0011] Furthermore, candidate link state prediction includes: determining the node distance and candidate attitude in the prediction time domain based on the candidate trajectory corresponding to the control candidate; determining the path loss based on the node distance; determining the attitude loss by querying the antenna pattern based on the candidate attitude; and combining the candidate transmit power, interference loss, realization loss, and the minimum received power corresponding to the candidate modulation and coding scheme to obtain the predicted link margin of the control candidate in the prediction time domain; flight safety constraint screening is used to eliminate control candidates that violate flight envelope, obstacle avoidance constraints, no-fly zone constraints, mission corridor constraints, energy constraints, power constraints, temperature constraints, or spectrum licensing constraints.

[0012] Furthermore, target control candidates are determined according to hierarchical selection rules for control candidates screened through flight safety constraints. The hierarchical selection rules include: prioritizing control candidates that meet the safety link threshold in the prediction time domain; among the control candidates that meet the safety link threshold, prioritizing control candidates with smaller changes relative to the current mission track and the current radio frequency configuration; when the change meets the preset proximity conditions, comparison is made based on at least two of the following: predicted link failure risk, track deviation, incremental energy consumption, number of configuration switching times, and degree of non-critical business degradation.

[0013] Furthermore, the joint control transaction includes at least a decision identifier, a state snapshot version, a communication configuration version, a GNC control quantity, a radio frequency control quantity, a communication activation frame, an associated control cycle, a transaction validity period, and an integrity check value. The processing system partition is used to perform flight safety pre-checks on the GNC control quantity, and the programmable logic partition is used to perform power, temperature, phase-locked loop, frequency point, and frame resource pre-checks on the radio frequency control quantity. When both pre-checks pass, the radio frequency control quantity is loaded in the communication activation frame and the GNC control quantity is executed in the associated control cycle. When the state snapshot expires, the version is discontinuous, the integrity check fails, either pre-check fails, or the transaction times out, the combination of the previously valid GNC control quantity and the radio frequency control quantity is maintained.

[0014] Furthermore, the execution feedback includes at least the actual GNC control quantity, actual attitude, power detection value, phase-locked state, actual communication configuration version, packet error rate, and measured link margin after execution. The processing system partition updates at least one of the attitude loss correction, path loss parameters, realization loss, or synchronization penalty based on the residual between the measured link margin and the predicted link margin of the corresponding control candidate. Bounded updates are only allowed when the execution feedback is complete, the link measurement is valid, and the interference state has not changed abruptly. The processing system partition also controls power fine-tuning, modulation coding or service allocation adjustment, and track adjustment according to fast, medium, and slow time scales, respectively.

[0015] Furthermore, the programmable logic partition is also configured to determine the frequency quality based on the received energy, packet error rate, occupancy duration, and recent usage time of multiple frequency points, and form a candidate frequency hopping set based on the frequency quality; set a new version number and future effective frame for the candidate frequency hopping set; broadcast the summary, new version number, and future effective frame of the candidate frequency hopping set during the preparation phase; and broadcast a commit message after the confirmation node meets the preset confirmation conditions so that each node switches synchronously in the future effective frame. If the preset confirmation conditions are not met, the summary verification fails, or the synchronization deviation before effectiveness exceeds the threshold, the switching is canceled and the old version of the frequency hopping set is continued to be used.

[0016] This application also provides a control method for a GNC-controlled high-performance computing and communication data link integrated machine, comprising: acquiring flight status data and communication status data within the same decision cycle and forming a status snapshot; generating radio frequency (RF) individual adjustment candidates, GNC individual adjustment candidates, and GNC and RF joint adjustment candidates based on the status snapshot; predicting the candidate link status in the prediction time domain for each control candidate, and eliminating infeasible control candidates based on flight safety constraints and RF safety constraints; determining target control candidates from the remaining control candidates according to the rules of priority for safety link thresholds and priority for smaller changes; encapsulating the GNC control quantity and RF control quantity in the target control candidate into a joint control transaction with an associated effective relationship; performing execution condition checks on the GNC control quantity and RF control quantity respectively, executing the GNC control quantity and RF control quantity according to the associated effective relationship when both checks pass, and maintaining the previous effective control combination when the checks fail; obtaining execution feedback carrying the decision identifier of the joint control transaction, verifying the candidate link status prediction results, and updating the link prediction parameters used in subsequent decision cycles or regenerating control candidates based on the verification results.

[0017] This application also provides an electronic device, including: a memory for storing a computer program; and a processor for executing the computer program to implement the steps of the above-described control method for a GNC-controlled high-performance computing and communication data link integrated machine.

[0018] This application also provides a computer-readable storage medium storing a computer program, wherein when the computer program is executed by a processor, it implements the steps of the above-described control method for a GNC-controlled high-performance computing and communication data link integrated machine.

[0019] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described control method for a GNC-controlled high-performance computing and communication data link integrated machine.

[0020] This application discloses a high-performance computing and communication data link integrated machine and control method for GNC control. By using a single integrated on-chip system and on-chip shared memory area to carry GNC and communication processing, it can reduce redundant processors, memory, external connectors, and wiring harnesses, and shorten cross-device data transmission paths. By comparing RF individual adjustment, GNC individual adjustment, and joint adjustment candidates under the same prediction caliber, and prioritizing flight safety hard constraints over link performance optimization, it can avoid violating obstacle avoidance and flight envelope requirements to improve communication benefits. By adopting the minimum intervention selection, the mission trajectory is not changed when the link can be restored on the RF side. GNC adjustment is only enabled when the RF side is limited by power, temperature, or spectrum conditions, thereby... Reduce unnecessary track deviations and flight energy consumption; by binding state versions, GNC control quantities, RF control quantities, and their associated effective times through joint control transactions, it is possible to reduce cross-domain control mismatch caused by the separate execution of processing system partitions (PS) and programmable logic partitions (PL) according to different states; by using execution feedback to correct link prediction models, subsequent candidate evaluations can be gradually adapted to actual airframe installation, obstruction, and antenna pattern errors, while avoiding abnormal measurement contamination of the model by updating conditions, step size upper limits, and parameter boundaries; by adopting a new version, future effective frame, node confirmation, and old version rollback mechanism for frequency hopping parameters, the risk of temporary disconnection caused by inconsistencies in multi-node parameters during dynamic frequency point updates can be reduced. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0022] Figure 1 This is a schematic diagram of a GNC-controlled high-performance computing and communication data link integrated machine structure according to an embodiment of this application;

[0023] Figure 2 This is a block diagram illustrating the principle of the GNC baseband board as described in an embodiment of this application.

[0024] Figure 3 This is a schematic diagram of the data interaction between the GNC baseband board and the system-on-a-chip as described in the embodiments of this application;

[0025] Figure 4 This is a schematic diagram of the radio frequency transceiver board link described in the embodiments of this application;

[0026] Figure 5 This is a flowchart illustrating a control method for a GNC-controlled high-performance computing and communication data link integrated machine as described in an embodiment of this application.

[0027] Figure 6 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0029] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will be able to understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] The present application will now be described in detail with reference to the accompanying drawings and embodiments. It should be understood that the following embodiments are for illustrative purposes only and are not intended to limit the application to a specific device model, frequency band, number of nodes, or numerical range. As long as the same data acquisition, candidate generation, security screening, correlation execution, and feedback correction can be performed, those skilled in the art can adjust the processing cycle, threshold, weight, interface, and RF parameters according to the platform capabilities.

[0032] In existing aircraft equipment, the guidance-navigation-control (GNC) unit and the high-performance computing unit and communication data link system generally adopt two independent and separate hardware architectures. Each set of equipment is equipped with its own shell, power supply, storage, interface and processing chip. The two rely on LVDS bus or Ethernet to interconnect across devices to complete data exchange, which has many inherent defects:

[0033] 1) The two independent hardware sets occupy the equipment installation space respectively. After stacking the whole machine, the system volume and external size are large, which makes it difficult to adapt to the narrow payload installation space of micro loitering munitions and small aircraft.

[0034] 2) The dual hardware system has two sets of power supply, main control, radio frequency and other circuits. The hardware resources are largely redundant and the total power consumption of the whole machine is too high, which increases the load on the aircraft's power supply system and shortens the flight time.

[0035] 3) The equipment relies on external LVDS and network cables to transmit guided and networked image data. There is a fixed transmission delay in cross-device transmission, and the real-time performance of multi-node collaborative control and long-distance image back transmission is poor.

[0036] 4) The number of potential failure points in the two sets of hardware doubles, requiring two sets of spare parts for troubleshooting and basic maintenance, making the testing and maintenance process complex;

[0037] 5) The clocks and processing logic of the two sets of equipment are independent of each other, making it impossible to achieve real-time linkage between GNC flight status and data link communication status. When there is link interference or changes in aircraft attitude, the working parameters cannot be adaptively adjusted, and the formation coordination and anti-interference performance are limited.

[0038] Therefore, this separate architecture not only increases the number of devices and wiring harnesses, but also makes it difficult to guarantee that the GNC state and the communication state belong to the same sampling moment due to multiple protocol conversions and queue transmissions, thus making it impossible to achieve integrated scheduling.

[0039] This application's embodiments abandon the traditional two-set independent hardware separation architecture, adopting a single integrated whole-machine architecture, using only one device to simultaneously realize all functions of GNC guidance and control, high-performance multi-source information calculation, and TDMA frequency hopping data link transmission and reception. (Reference) Figure 1 The GNC-controlled high-performance computing and communication data link integrated machine 1 of this application adopts a vertical stacking structure, including a GNC baseband board 2 and an RF transceiver board 3 disposed in the same housing. The GNC baseband board 2 and the RF transceiver board 3 are stacked along the height direction of the housing. Power, control, clock and high-speed data connections are established through inter-board connection components, eliminating the need for external LVDS and network cable connections between devices. The whole machine shares a set of housing, a set of power supply and a set of peripheral resources.

[0040] In some embodiments, the all-in-one machine further includes an RF cavity 4 located at the bottom of the machine. The RF cavity 4 is a sealed shielded cavity used to provide electromagnetic shielding protection for the RF transceiver board 3. The RF transceiver board 3 is arranged inside the RF cavity 4 and is electrically connected to an SSMA RF socket 5. The SSMA RF socket 5 is fixedly installed on the side wall of the aluminum alloy housing to enable the RF signal to be led out. An RF cover plate 6 is provided above the RF transceiver board 3. The RF cover plate 6 is a metal partition that provides electromagnetic isolation between the RF transceiver board 3 and the upper GNC baseband board 2, suppressing electromagnetic interference from the RF link to the GNC guidance and control circuit. The RF cover plate 6 and the GNC baseband board 2 are interconnected vertically without connectors via 17-pin fasteners 7, completing the vertical transmission of baseband signals and control signals between the RF transceiver board 3 and the GNC baseband board 2. An interface board 8 is arranged above the GNC baseband board 2. The GNC baseband board 2 and the interface board 8 are vertically stacked and interconnected using 56-pin snap fasteners 9. An external integrated connector 12 is mounted on the outside of the interface board 8. The external integrated connector 12 adopts the HJ30J connector. The power signals, navigation sensor signals, and servo control signals from the outside of the whole machine are all connected to the interface board 8 through the HJ30J external integrated connector. A top cover 10 is set at the top of the whole machine, which also serves as a heat dissipation function for the whole machine. The multi-layer board stacking assembly is axially locked and fixed by multiple aluminum pillars 11. The aluminum pillars 11 pass through the mounting and positioning holes of each layer of boards, locking and fixing the top cover 10, interface board 8, GNC baseband board 2, RF cover plate 6, and RF transceiver board 3 to the bottom aluminum alloy shell, realizing the integrated stacking assembly of the whole machine.

[0041] Therefore, the GNC-controlled high-performance computing and communication data link integrated machine of this application embodiment is a single device, and no longer requires multiple hardware chassis of independent GNC computer, task computer and data link processor; electromagnetic isolation between radio frequency circuit and GNC control circuit is achieved by relying on metal radio frequency cover plate and sealed shielded radio frequency cavity, and button vertical interconnection replaces traditional board in-line plug-in, reducing the number of cables and external connectors.

[0042] In some embodiments, the integrated machine structure shell can be made of 6061-T6 aluminum alloy with an overall shape of 110mm×70mm×50mm and a weight of ≤350g.

[0043] In some embodiments, further references Figure 2 The GNC baseband board features a fusion system-on-a-chip (SoC) with a unified SOC as the sole master control chip. The board also includes double data rate memory, non-volatile memory, power supply circuitry, and interface transceiver circuitry. Internal chip resources are partitioned and reused, eliminating the need for separate GNC processors and independent communication FPGAs, thus removing hardware redundancy.

[0044] In some embodiments, the converged system-on-a-chip (SoC) can employ a heterogeneous SoC including multi-core processors and programmable logic resources. In one example, the processing system partition has four processing cores, and the programmable logic partition has lookup tables, block memory, and high-speed serial transceivers; the memory includes 2GB DDR4, 8GB Flash, and 16GB eMMC, with the actual capacity determined according to GNC algorithm, image buffer, communication queue, and log requirements.

[0045] In some embodiments, the integrated system-on-a-chip includes a processing system partition (PS partition) and a programmable logic partition (PL partition). The PS processing partition integrates a quad-core processor, which is responsible for all GNC high-performance computing tasks such as aircraft attitude calculation, route planning, multi-source navigation fusion, and image encoding and decoding. It also manages all peripherals, including the entire machine's storage, network, CAN / RS422 / SBUS / discrete signals / PWM, and is equipped with a set of domestic DDR, Flash, and eMMC storage circuits and a unified power supply timing circuit. The PL logic partition's on-chip programmable logic fully implements a complete set of data link baseband algorithms, including QPSK modulation and demodulation, LDPC encoding and decoding, 5000 hops / second high-speed frequency hopping, and TDMA multiple access networking. It relies on the chip's internal high-speed AXI bus to complete the real-time on-chip interaction of GNC calculation data and communication link status data, without the need for external LVDS or network cables to forward data.

[0046] In some embodiments, further references Figure 3 The integrated system-on-a-chip includes a PS partition, a PL partition, an on-chip high-speed bus, and a shared memory area. The PS partition runs a real-time operating system or a software environment with deterministic scheduling capabilities, performing navigation filtering, guidance laws, attitude control, task management, state snapshot generation, candidate control allocation, joint control transaction management, and online model correction. The PL partition uses pipelined or parallel logic to perform digital down-conversion, synchronization, demodulation, channel decoding, packet error statistics, modulation and coding, frequency hopping control, TDMA frame control, and DMA transfer.

[0047] The shared storage area is divided into a status area, a command area, a feedback area, and an event area according to a fixed layout. A status record in the status area must include at least the record version, sampling time, source valid bits, communication measurement vector, flight status vector, and checksum. A command record in the command area must include at least the transaction identifier, command version, target effective frame, associated control cycle, RF configuration, and checksum. The feedback area stores the configuration version actually loaded by the PL, power detection value, phase-locked loop status, packet error rate, and exception code.

[0048] The writer first fills in the data area and checksum, and finally updates the validity flag or publication sequence number; the reader only receives the entire record if the first and last sequence numbers match and the checksum passes. After reading, an acknowledgment sequence number is returned. This avoids the PS reading a half-frame of communication state that the PL is updating, and also avoids the PL loading control transactions that the PS has not yet finished writing. Shared records can use double buffering, circular buffering, or lock-free queues with version counters, as long as the integrity of a single state snapshot and a single control transaction can be guaranteed.

[0049] In one example, the transmitted data is in 20ms basic frames. The PL updates the link measurement and synchronization status once per frame, and the PS performs GNC and cooperative decision-making at 10ms or 20ms intervals. If the GNC interval is shorter than the communication frame interval, multiple GNC intervals can be associated with the same communication status version. If the communication measurement is not updated within the predetermined data age, the PS increases the data age penalty and only allows power maintenance or conservative speed limiting, and does not allow triggering large track changes.

[0050] In some embodiments, reference Figure 4 The RF transceiver board 3 includes a transmit link, a receive link, transmit / receive timing control circuitry, an RF power supply circuit, and a detection circuit. The example RF band can range from 1600MHz to 1800MHz, but can be replaced with 900MHz, 2.4GHz, or other target bands depending on spectrum availability. The RF transceiver board can transmit differential IQ data, sampling clock, frequency hopping control signals, transmit / receive control signals, and power and temperature detection data between itself and the baseband board. The transmit link output power is ≥42dBm, and the receive link total gain is ≥25dB. TTL level fast switching between transmit and receive paths is used, and an internal metal separator isolates the transmit and receive signals to avoid self-interference.

[0051] In some embodiments, the transmit link may sequentially include a temperature-compensated attenuator, one or more stages of driver amplifiers, a final stage power amplifier, a directional coupler, a circulator, and a bandpass filter; the receive link may sequentially include a limiter, a first-stage low-noise amplifier, a dielectric filter, a second low-noise amplifier, and a digitally controlled attenuator. The RF transceiver chip performs frequency synthesis, transmit / receive switching, and IQ sampling under PL control.

[0052] The coupling end of the directional coupler is connected to a power detector, which converts the actual transmit power into a digital quantity that can be acquired by the power amplifier (PL). A phase-locked loop (PLL) provides phase-locked indication, and a temperature sensor provides the temperature of the power amplifier and RF chip. Before executing RF control inputs, the PL checks whether the target power is below the dynamic power limit corresponding to the current temperature, whether the target frequency is within the permitted range, whether the frequency synthesizer can stabilize before the target frame, and whether frame resources are available.

[0053] When the difference between the target power command and the power detection value continuously exceeds the allowable range, the PL generates a power amplifier error code, stops accumulating power, and instead maintains a conservative power level or shuts down transmission. The actual detection value is returned to the PS along with the transaction identifier, allowing the PS to distinguish between "insufficient prediction strategy" and "RF command not being correctly executed by the hardware." In one embodiment, the transmit power can be set in stages from 0dBm to 42dBm, the total receive gain is approximately 25dB, and the transmit / receive switching time is no greater than 1μs.

[0054] In some embodiments, the processing system partition forms a state snapshot based on flight state data and communication state data within the same decision cycle. The current decision cycle number is k (k≥1). At the beginning of the current cycle, the PS partition reads the latest communication state reported by the programmable logic partition (PL) from the shared memory; simultaneously, it reads the aircraft flight state data from the local navigation and control task module. All observations on the communication side are used to construct a communication state vector. Communication state vector It consists of a set of received signal strength, signal-to-noise ratio, packet error rate, round-trip time, synchronization deviation, power detection value, phase-locked state, interference indication, and the data age corresponding to each data item. The flight state vector is constructed by combining the aircraft's navigation and control outputs. Flight state vector It consists of a set of position, velocity, attitude quaternions, angular velocity, remaining energy, and flight safety constraints; the flight safety constraints set includes all hard flight safety constraints such as flight envelope boundaries, no-fly zone coordinates, mission corridor range, maximum permissible overload, and upper limit of attitude change rate.

[0055] Build state snapshot During the process, PS partitioning targets the communication state vector With flight state vector Each data item internally undergoes a validity check, which includes data timestamp, physical range, data change rate, and source validity bits. Data items whose readings exceed the upper or lower limit of the device's physical range, or whose change rate exceeds the preset change rate limit within a short period, are directly marked as invalid and excluded from subsequent link calculations and decision-making operations. For data items with valid values, but whose sampling time is not the time corresponding to decision period k and is still within the allowable age threshold range, the age information corresponding to the data item is retained, and the reliability of this part of the data will be recalculated later through a data age penalty term.

[0056] Since the sampling clocks of the flight status sampling path and the communication link measurement path are independent, the sampling times of the raw data are not naturally consistent, requiring time base mapping processing. This embodiment uses any one or more combinations of a unified network time, GNSS second pulse signal, on-chip hardware counter, or calibrated local clock to map flight status data and communication status data from different acquisition paths to the same time base corresponding to decision period k. After time alignment and validity screening, all verified data is frozen in read-only mode to generate a status snapshot corresponding to this decision period. ; Status snapshot The data remains read-only throughout the entire decision cycle. Newly arrived measurement data does not modify the current snapshot but is sent to the buffer for the next decision cycle.

[0057] In some embodiments, based on state snapshots The effective measurement data within the range is used to calculate the received power using the following formula. and basic link margin :

[0058]

[0059]

[0060] in, This refers to the transmitting power of the transmitter. This represents the antenna gain of the transmitting end in the current communication direction; This represents the antenna gain at the receiving end in the current communication direction. The path loss output by the propagation model; The total implementation loss includes feeder loss, polarization mismatch loss, filter insertion loss, connector loss, and the implementation loss introduced by other devices. This represents the minimum received power required by the receiver under the current modulation and coding scheme and target packet error rate. All the above physical quantity calculations use a uniform dB or dBm dimension.

[0061] In some embodiments, basic link margin Link margin that only reflects the average power level cannot characterize the actual communication risks caused by random signal fluctuations, aircraft attitude obstruction, data staleness, synchronization deviation, and link deterioration trends. Therefore, an effective link margin is further defined. The calculation formula is:

[0062] =

[0063] in, This represents the effective link margin in the k-th decision cycle. To measure the fluctuation of received power or signal-to-noise ratio obtained from fast time window statistics, statistical measures such as the standard deviation, root mean square fluctuation, and mean absolute deviation of the received power samples within the fast time window can be used. When using the standard deviation... This is the confidence margin coefficient used to control the degree of conservatism in volatility; The non-negative confidence coefficient is greater than or equal to 0; The amount of compensation for the uncertainty introduced by attitude and body occlusion; This is the penalty amount corresponding to the synchronization deviation; The penalty amount corresponding to the data age; This represents the penalty amount corresponding to the link deterioration trend.

[0064] In some embodiments, the penalty amount corresponding to the link deterioration trend The following method can be used for calculation:

[0065]

[0066] in, This is the link margin obtained after slow time window filtering and smoothing; This represents the rate of change of the slow time window link margin over time. This is for subsequent prediction of time domain duration.

[0067] When the link margin is decreasing When the value is greater than 0, the trend penalty takes effect; when the link margin is stable or shows an upward trend, the trend penalty item is 0 and no additional margin is deducted.

[0068] Data age penalty Set two age thresholds: when the actual age of a data item does not exceed the first threshold. A value of 0 results in no penalty; when the age of a data item is between the first and second thresholds, The data age is gradually increased according to a linear or piecewise function. When the age of a data item exceeds the second threshold, the current state snapshot is directly marked as unusable for GNC track adjustment decisions, and only radio frequency parameter configuration control actions are allowed.

[0069] In some embodiments, when obtaining a state snapshot and effective link margin Subsequently, the PS partition generates control candidates. The candidate set includes at least hold candidates, RF-only adjustment candidates, GNC-only adjustment candidates, and GNC and RF joint adjustment candidates.

[0070] When the effective link margin is higher than the safety threshold and the trend is stable, a hold candidate is generated, the current track and radio frequency configuration are maintained, and monitoring continues only.

[0071] Radio frequency (RF) individual adjustment candidates improve the link by changing transmit power, modulation and coding scheme, receive gain, service rate, or frequency hopping set. Candidate generation can employ a rule base or finite enumeration. For example, several power candidates can be generated in the vicinity of the current power at preset steps, coding candidates can be generated in adjacent levels of the current coding scheme, and combinations exceeding the power amplifier temperature derating limit or spectrum permission can be deleted.

[0072] GNC individually adjusts candidate points to improve antenna orientation and propagation path by changing heading, altitude, speed, or permissible attitude parameters. PS generates a limited number of waypoints or short-term control sequences within the flight envelope, centered on the current mission track. Candidate points can include slight left yaws, slight right yaws, altitude adjustments, or speed adjustments, and candidates in no-fly zones and those that clearly violate obstacle avoidance conditions are initially excluded during generation.

[0073] The joint GNC and RF adjustment candidate combines a small RF adjustment with a small GNC adjustment. For example, when simply increasing power is limited by temperature, or simply yaw causes excessive deviation from the mission track, a power increment that does not reach the temperature limit can be combined with a small heading correction. The joint candidate is not an arbitrary Cartesian product of all monotonic candidates, but rather prioritizes candidates that are close to the feasible boundary to limit the computational cost.

[0074] If neither individual adjustment candidates nor joint adjustment candidates can meet the link and flight safety requirements within the prediction time domain, a degraded candidate is generated. Degraded candidates may include reducing the image frame rate, ceasing non-critical services, entering relay hold, returning to home, hovering, or executing a preset safe route. Degraded candidates must still meet hard flight safety constraints to maintain basic control links and flight controllability.

[0075] In some embodiments, the processing system further includes candidate link state prediction and flight safety constraint screening for multiple control candidates generated by the system. For the i-th (i≥1) control candidate, short-time trajectory propagation and state prediction are performed to deduce the predicted link margin corresponding to the h-th (h≥1) medium-speed control cycle after the candidate is executed. The prediction time domain is selected as one to several medium-speed control cycles. The formula for calculating the predicted link margin of the h-th cycle is as follows:

[0076]

[0077] in, The predicted link margin for the i-th control candidate in the h-th period; This represents the candidate transmit power corresponding to the candidate. The pitch angle of the candidate attitude relative to the direction of the communication node; This is the azimuth angle of the candidate pose relative to the direction of the communication node; The effective transmit gain of the transmitter is obtained by looking up a table or interpolating based on the antenna radiation chart. This represents the effective gain at the receiving end. Distance between candidate nodes after execution The corresponding path loss; The equivalent interference loss caused by interference; This is the sum of feeder loss, polarization mismatch loss, and realization losses introduced by various devices; The amount of compensation for the uncertainty introduced by attitude and body occlusion; The lowest received power corresponding to the modulation and coding scheme selected for this candidate.

[0078] After obtaining the predicted link margin for each candidate, a safety screening process prioritizing hard constraints is executed. For each control candidate, trajectory propagation or short-term vehicle state prediction is first performed; then, the constraints are checked one by one, including maximum overload, maximum roll angle, maximum pitch angle, minimum turning radius, terrain clearance, obstacle distance, no-fly zone, mission corridor, remaining power, power amplifier maximum power, power amplifier temperature, frequency license, and target frame resources. If any hard constraint of a candidate cannot be met, the candidate is directly deleted; hard constraints are veto conditions, and candidates that do not meet hard constraints cannot be made available again by adjusting performance evaluation weights.

[0079] After eliminating all candidates that do not meet the hard constraints, a tiered selection process is performed on the remaining candidates that meet the hard constraints. The first tier verifies the minimum link performance, requiring that within the prediction time domain, the predicted link margin corresponding to the candidate is not lower than a preset safety threshold; or, in the event of a link failure, the predicted failure duration does not exceed the maximum failure time allowed by the system. The second tier follows the principle of minimal intervention, prioritizing candidates with minimal changes to the original mission trajectory and current radio frequency configuration, prioritizing the original flight mission, and minimizing changes to the trajectory and communication configuration.

[0080] When multiple candidate configuration changes are similar, a comprehensive cost function is used to compare their merits. The expression for the comprehensive cost function is as follows:

[0081]

[0082] in, The comprehensive cost corresponding to the i-th candidate; To predict the risk of link failure, the prediction is determined by the number of cycles in which the predicted link margin is lower than the safety threshold, the amount of insufficient link margin, and measurement uncertainty. The deviation of the candidate track from the original mission track; The sum of the incremental energy consumption of the aircraft flight and the incremental energy consumption of radio frequency transmission resulting from the implementation of this candidate; The number of configuration switching times for changes in power configuration, coding configuration, or frequency point configuration; The degree of business downgrading for non-critical operations; , , , , All are non-negative weighting coefficients that are greater than or equal to zero.

[0083] Before performing weighted calculations, it is necessary to... , , , , Each indicator is normalized according to its allowed value range.

[0084] It should be noted that the comparison of candidate merits is not limited to the comprehensive cost function form given in this embodiment. It can also adopt hierarchical sorting, weighted absolute value, weighted sum of squares, Pareto screening, or other multi-objective evaluation methods that can realize the comparison of candidate merits. Regardless of the evaluation algorithm used, the screening priority of safety hard constraints is always higher than that of performance index optimization.

[0085] In some embodiments, to avoid frequent control switching oscillations near the link threshold, a warning hysteresis mechanism and a change-limiting mechanism are set. The threshold used to enter the warning state and the threshold used to exit the warning state are set to different values, and the state transition requires the conditions to be met continuously for several decision cycles or to reach a preset holding time. Instantaneous link fluctuations will not trigger the warning state transition. At the same time, a maximum change amount is set for power commands, heading commands, and coding levels per cycle. The parameter adjustment range within each decision cycle must not exceed the corresponding maximum change amount limit to ensure smooth changes in aircraft motion and communication configuration.

[0086] In some embodiments, a switching cost judgment logic is further introduced. When the expected benefits of a new candidate are insufficient to exceed the switching cost corresponding to the switching control combination itself, the system maintains the currently executed control combination and does not switch to the control scheme output by the new candidate. After the above prediction, safety screening, hierarchical selection, and anti-oscillation processing, the finally selected target candidate is output and sent to the subsequent joint control transaction encapsulation processing.

[0087] In some embodiments, after determining the target candidate, the PS partition encapsulates the GNC control quantity and the RF control quantity into a joint control transaction. This enables the binding of GNC control variables and RF control variables, pre-checking, cross-domain synchronous submission, and exception rollback handling. Joint control transactions. The logical structure can be represented as:

[0088]

[0089] In the formula:

[0090] This refers to the joint control transaction corresponding to the k-th decision.

[0091] This serves as the unique decision identifier for this transaction;

[0092] The snapshot version of the state on which the cost of living candidate is based;

[0093] The baseline version of the communication configuration prior to the execution of this transaction;

[0094] The GNC control variable can be the target heading, target altitude, target speed, attitude limit threshold, or short-time control sequence.

[0095] These are radio frequency control parameters, which can be used to assign parameters such as target transmit power, modulation and coding level, receive gain, frequency hopping frequency point set, or service time slot.

[0096] Target active frame configured for radio frequency communication;

[0097] For the target effective frame The associated GNC control cycle;

[0098] The validity period of this joint control transaction;

[0099] This is the integrity check value for this transaction.

[0100] In some embodiments, the preparation phase begins after the joint control transaction is generated. The processing system partition PS first verifies the version of the state snapshot carried within the transaction. Is it still a snapshot of the current valid state of the entire machine; and based on the latest flight status data of the entire machine, are the GNC control variables adjusted? Perform flight envelope constraint verification and obstacle avoidance constraint verification again. After verification, mark the joint control transaction as pending submission.

[0101] At the same time, the programmable logic partition (PL) reads the communication configuration baseline version in the joint control transaction. Determine the baseline version of the communication configuration. Is it consistent with the current communication configuration version running on the RF side? Further adjustments to RF control variables. A hardware and link resource pre-check is conducted, including checks on dynamic power limit constraints, power amplifier temperature constraints, phase-locked loop (PLL) setup time requirements, frequency usage permissions, and the sufficiency of target frame resources. After completing all pre-checks, the PL will submit its check results and the target effective frame for acceptable communication configurations on the RF side. Return to the processing system partition PS.

[0102] When all pre-check results from both the PS and PL sides pass, the PS sends a transaction commit flag to the PL. Upon receiving the commit flag, the PL will adjust the RF control parameters. Preloaded into the RF configuration shadow register, pending the count reaching the communication configuration target effective frame. At the frame boundary moment, the radio frequency control quantity in the shadow register will be... The RF side is loaded with the actual operating configuration; the PS, on the other hand, is in the associated GNC control cycle. Execute GNC control at the start time Among them, the communication configuration target effective frame. With GNC control cycle The two are linked by a unified clock signal or a pre-established frame-control cycle mapping table to ensure that the actual time difference between the GNC control quantity and the RF control quantity does not exceed the system's preset allowable synchronization error.

[0103] During the entire process of transaction preparation and waiting for it to take effect, if the following occurs: the state snapshot version expires, the version identifier is discontinuous, the CRC integrity check fails, the pre-check on either the PS or PL fails, or the transaction runtime exceeds the transaction validity period, the following issues may occur: If any of the abnormal conditions occur, the joint control transaction will not be committed as a whole, and the entire machine will continue to use the previous valid GNC control combination and communication configuration combination.

[0104] If transaction cancellation is triggered when PL has already completed the preloading of RF control quantities, but the communication configuration target effective frame has not yet arrived. If so, PL directly deletes the pre-loaded configuration inside the shadow register, while the RF side maintains the original working configuration.

[0105] If the RF configuration loading has been completed and the target effective boundary has been reached, but subsequent execution of the RF phase-locked loop fails, the PL will automatically revert to the previous version's communication configuration; the PS will use the same transaction decision identifier. If the current transaction is not fully executed, the planned track correction action will not be performed, and the process will return to the candidate generation process to generate a new control candidate.

[0106] In some embodiments, due to flight stability constraints, for partially executed GNC control actions, abrupt reverse reversal is not used. Instead, within the aircraft's permissible rate of change limits, the flight state is gradually restored to the original mission trajectory. After completing the transaction commit, execution, or abnormal rollback, the transaction execution receipt carries the original transaction's unique decision identifier. Write it to the on-chip shared memory area for subsequent closed-loop feedback and model parameter update modules to call.

[0107] In some embodiments, the processing system partition verifies the candidate link state prediction results based on the execution feedback carrying the decision identifier of the joint control transaction, and updates the link prediction parameters used in subsequent decision cycles or regenerates control candidates based on the verification results.

[0108] In this embodiment, the actual execution receipt carrying a unified transaction identifier is used to compare the measured link indicators with the previous prediction results and calculate the prediction residual. Under the premise of meeting the valid update conditions, the loss parameters inside the link prediction model are bounded online to make the candidate prediction results of subsequent periods gradually fit the actual working environment of the aircraft. At the same time, the transaction completion status is judged based on the actual execution effect, and it is decided to confirm the success, generate a compensation transaction, or re-initiate the candidate generation process.

[0109] After the control transaction is completed, the processing system partition (PS) and the programmable logic partition (PL) respectively return a unique decision identifier for the transaction to the on-chip shared memory area. The execution result receipt. The execution receipt should include at least the following data items: actual trajectory control values, actual aircraft attitude, power amplifier power detection values, RF phase-locked loop status, actual effective communication configuration version, link packet error rate, and measured link margin. .

[0110] The processing system partition PS reads the prediction link margin saved during the current decision candidate generation phase. The difference between the measured link margin and the predicted link margin is calculated to obtain the predicted residual for this transaction. The formula for calculating the predicted residual is as follows:

[0111]

[0112] In the formula:

[0113] The forecast residuals corresponding to the joint control transactions;

[0114] This refers to the measured link margin obtained after the transaction is executed.

[0115] The predicted link margin is saved for this candidate evaluation phase.

[0116] When predicting residuals If the error rate is less than the preset negative deviation threshold for several consecutive periods, it indicates that the link prediction model is generally overly optimistic, and the actual link performance of the aircraft is lower than the predicted link performance output by the model. Therefore, the internal loss parameters of the model need to be corrected. This embodiment uses attitude loss deviation correction as an example, employing a bounded update method to iteratively solve for the attitude loss deviation correction amount. The update formula is:

[0117]

[0118]

[0119] In the formula:

[0120] This represents the online deviation correction amount before the nth (n≥1) update of the current attitude range;

[0121] This represents the online deviation correction amount for the attitude range after iterative updates;

[0122] This is a limiting function, its function is to force the output result of the calculation to be constrained to the lower bound of the correction amount. Upper bound of correction amount between;

[0123] To update the step size, the value is greater than 0 and less than 1;

[0124] This is the lower bound of the allowable attitude deviation correction amount;

[0125] This is the upper limit of the allowable attitude deviation correction amount;

[0126] The basic attitude loss is obtained by querying the antenna pattern calibration data table. These are the aircraft's current pitch and azimuth angles relative to the communication node, respectively.

[0127] This is the amount of compensation for the posture and occlusion of the machine after the update is completed.

[0128] In some embodiments, the online update of model parameters is subject to strict admission criteria. The above-mentioned model parameter update operation is allowed only if the following conditions are met simultaneously: the execution receipt data is complete and valid, the actual effective communication configuration version is consistent with the transaction target version, the power amplifier power detection value is valid, the link measurement data is valid, and there is no sudden change in the link interference state.

[0129] If the root cause of this anomaly is that the power amplifier did not execute the command, the RF frequency phase-locked loop failed, or there was a sudden broadband interference, then the internal parameters of the model will not be updated. Instead, the original model parameters will be retained, and the anomaly type of this fault will be recorded in the system to avoid the instantaneous abnormal measurement values ​​from polluting the entire prediction model.

[0130] In some embodiments, the PS determines the execution result of the joint control transaction based on the measured link margin and the predicted link margin: if the actual link improvement reaches a preset proportion of the predicted link improvement, the joint control transaction is considered successful; the preset proportion can be any value within the range of 60%-100% based on ground calibration and field test calibration results; in application scenarios lacking calibration test data, a more conservative proportion threshold within the range is selected. If the link has improved compared to before execution, but the actual link improvement does not reach the above-mentioned preset proportion, a compensation transaction is generated for further fine-tuning within the allowable rate of change of the aircraft's attitude and power. When link deterioration occurs, or the transaction execution status becomes abnormal, the system stops further increasing the transmit power, reverts to a fallback safe communication configuration, and re-enters the candidate generation process.

[0131] Therefore, the corrected model parameters will participate in the link margin calculation and candidate prediction evaluation after the state snapshot in the next decision cycle. The execution feedback is not an independent monitoring module, but returns to the state snapshot and prediction parameters of the next decision cycle, so that candidate generation, prediction, execution and correction form a closed loop.

[0132] In some embodiments, to avoid control oscillations between the GNC flight control closed loop and the communication radio frequency control closed loop, the system sets up three time scales of fast, medium and slow coordinated control logic. Different closed loops are assigned to handle different types of control actions. The three closed loops share the same state snapshot version generated in the same decision cycle, but are configured with independent minimum hold time and maximum rate of change constraints for parameters.

[0133] The fast closed-loop corresponds to the basic communication frame cycle or GNC control cycle, mainly completing link measurement value updates, synchronization status monitoring, and small-range power fine-tuning actions; the typical update cycle of the fast closed-loop is 20ms, used to cope with short-term rapid fluctuations in the link. The medium-speed closed-loop performs updates based on multiple consecutive fast basic cycles, responsible for communication configuration changes with greater overhead, such as modulation and coding scheme adjustments, service bandwidth allocation adjustments, and candidate frequency hopping set updates; the update cycle of the medium-speed closed-loop is set to 100ms-1s. The slow closed-loop is used for aircraft flight trajectory adjustments such as track and heading. Track adjustment-related control actions are only allowed when the link risk persists and the link margin that meets the conditions cannot be restored by adjusting the radio frequency side parameters alone; as an example, the slow closed-loop can allow track adjustment permissions only after the link risk state has been maintained for 2 seconds.

[0134] It should be understood that the specific update cycles for fast, medium, and slow closed loops are not limited to the values ​​in the examples above, and can be adapted and determined based on the maneuverability of the aircraft flight platform, the time required for switching radio frequency configurations, and the coherence time of the wireless link.

[0135] When the confidence level of communication link measurement data is insufficient, the system only grants conservative control permissions for fast closed-loop control. Permissible actions at this time include maintaining the current transmit power, reducing data throughput bandwidth for non-critical services, and limiting the magnitude of transmit power adjustments; direct triggering of significant trajectory changes is prohibited. Only after the system continuously receives multiple sets of valid communication measurement data and the multi-cycle prediction and evaluation results remain consistent will the GNC trajectory adjustment permissions corresponding to slow closed-loop control be granted to prevent erroneous trajectory correction decisions based on unreliable measurement data.

[0136] The system employs a hysteresis threshold mechanism to control the entry and exit of the warning state, thereby suppressing frequent state transitions near the threshold. Two different effective link margin thresholds are set, a first threshold and a second threshold, with the second threshold being higher than the first threshold. When the effective link margin falls below the first threshold and this state remains unchanged for a preset time, the system enters the link warning state; when the effective link margin exceeds the second threshold and this state remains unchanged for the same preset time, the system exits the link warning state.

[0137] Simultaneously, limiting constraints are applied to the maximum rate of change of heading, the single-step increment of transmit power, and the frequency hopping pattern update frequency. The angle change in each control cycle of the heading command must not exceed the upper limit of the rate of change of heading; the single adjustment step size of transmit power cannot exceed the upper limit of the power step size; and the frequency hopping pattern cannot exceed the specified maximum update frequency. Through a combination of multi-timescale division of labor, early warning hysteresis threshold, and single-cycle variation limiting of various physical quantities, the control oscillation phenomenon caused by the mutual chasing between the GNC flight closed loop and the communication radio frequency closed loop is suppressed, ensuring the stability and smoothness of the overall aircraft coordinated control process.

[0138] In some embodiments, in the multi-node TDMA frequency hopping network working mode, in order to achieve reasonable evaluation and selection of the frequency hopping set of each node, and at the same time ensure the consistency of the network parameter switching process and avoid temporary node disconnection during parameter update, PL performs consistency control on the multi-node frequency hopping network.

[0139] Each ordinary node or cluster head node in the network collects and records the received energy, packet error rate, frequency occupancy duration, and most recent usage time of each frequency point within multiple statistical time windows. Based on the above observation indicators, the frequency point quality score is calculated for each frequency point. The formula for calculating the frequency point quality score is as follows:

[0140]

[0141] In the formula:

[0142] Give the frequency quality score for the j-th (j≥1) frequency point;

[0143] The signal-to-noise ratio (SNR) of the j-th frequency point after normalization is given.

[0144] Let be the packet error rate of the j-th frequency point after normalization.

[0145] The normalized channel occupancy level of the j-th frequency point;

[0146] The frequency point is characterized by the time elapsed since its last use, i.e., the degree of frequency aging.

[0147] All are non-negative weighting coefficients that are greater than or equal to zero.

[0148] It should be noted that the frequency quality assessment method is not limited to the linear weighted scoring formula mentioned above. Other methods such as weighted sum of squares calculation, segmented threshold scoring, sorting and filtering, and threshold discrimination can also be used. As long as multiple observation indicators can be combined to distinguish between usable and interfered frequencies, they can be applied to this embodiment. For frequencies that are continuously interfered with for a long time, the frequency is added to the frequency blacklist and is no longer included in the frequency hopping candidate set. A frequency that is included in the blacklist can only be removed from the blacklist and re-participate in the frequency quality assessment after meeting the frequency availability criteria for multiple consecutive recovery time windows.

[0149] The cluster head node generates a new version of the frequency hopping set based on the frequency quality score of each frequency point, and assigns a new version number and future effective frames to this new frequency hopping set. Entering the network parameter switching preparation phase, the cluster head broadcasts the frequency hopping set summary, the new version number, and the future effective frames to all nodes in the network. Each receiving node performs integrity verification on the received frequency hopping set summary and checks its local synchronization deviation. After verification, it returns an acknowledgment message to the cluster head.

[0150] Only when the total number of nodes returning acknowledgments meets a preset condition, or when all key nodes in the set return acknowledgment messages, thus meeting the preset acknowledgment conditions, will the cluster head broadcast a submission message to the entire network. Each network node continuously counts its local frame number, and when the local frame count reaches the pre-agreed future effective frame time, all nodes in the network synchronously complete the version switch of the frequency hopping set.

[0151] During the preparation phase, if any of the following occurs: insufficient number of node acknowledgment messages, failure of frequency hopping set digest verification, or local synchronization deviation of a node exceeding a preset threshold before the official switch, the frequency hopping set switch operation will be canceled directly, and the entire network will continue to use the old version of the frequency hopping set for communication. Each network node must locally store at least the currently operating frequency hopping version and the previous historical version's frequency hopping configuration. If a large-scale node disconnection failure occurs after switching to the new version, nodes can revert to the previous version of the frequency hopping set to ensure the basic availability of communication links.

[0152] The preset confirmation conditions can be configured as any one or more combinations of the following: all key nodes have completed confirmation, the number of online nodes confirmed has reached a set percentage threshold, and a specified set of relay nodes has completed confirmation.

[0153] As an implementable example, the basic frame period of the network is set to 20ms. Within a single frame, a synchronization zone, control micro-timeslots, a protection zone, and a dynamic service zone are sequentially divided. In this example, the total number of network access nodes does not exceed 32. The control micro-timeslots are used to carry frequency hopping set state summaries, handover confirmation messages, and various short control commands. High-throughput service data such as images are transmitted in the dynamic service zone according to service priority, with time slot allocation completed accordingly. It should be understood that the maximum number of network access nodes, the number of control micro-timeslots, and the service transmission rate can all be adaptively modified according to the actual network scale and service requirements. The embodiments in this application are not limited to the values ​​shown in the example above.

[0154] The following example illustrates the entire process of coordinated control of the entire aircraft in this application embodiment, using a complete business process of aircraft link deterioration. The distance, threshold, and holding time in the example are all exemplary parameters. The actual product needs to be determined after calibration based on the aircraft platform, antenna characteristics, and communication system.

[0155] When the aircraft was conducting communication services with the cluster communication node at a distance of approximately 30km, the system detected that the effective link margin continuously decreased from 8dB to 5dB, and the link margin change rate output in the slow time window was negative, indicating that the link performance was continuously deteriorating. The state machine determined that if this abnormal state continued for 2 seconds, it would meet the warning entry condition, and the system would enter the link warning state. The PS froze the currently acquired and verified data and generated a state snapshot for this period. Based on this state snapshot, multiple control candidates were generated, namely, a maintain candidate, a radio frequency-only adjustment candidate that increases the transmit power level by one level while reducing the non-critical image bit rate, a GNC-only adjustment candidate with a small left and right heading deviation, and a GNC-radio frequency joint adjustment candidate with a small power increment and a small heading correction.

[0156] For each of the above control candidates, the distance between spacecraft nodes, flight attitude, and corresponding predicted link margins are projected for the next three medium-speed control cycles. The GNC adjusts the heading rightward sub-candidate within the candidate pool; the projected flight trajectory approaches the mission corridor boundary, triggering a hard constraint, and this sub-candidate is directly deleted. The GNC-RF joint adjustment of one of the candidate sub-candidates predicts that the power amplifier operating temperature will exceed the dynamic temperature limit, and it is also eliminated by hard constraint screening.

[0157] If a candidate radio frequency (RF) adjustment alone can restore the lowest predicted link margin in the predicted time domain to 7 dB without violating the power amplifier temperature constraint, then following the principle of minimum intervention priority, the RF adjustment candidate is selected first. This scheme only adjusts the RF parameters and does not change the aircraft trajectory. If, due to power amplifier temperature constraints, executing the RF adjustment candidate still cannot restore the required link margin, then among the remaining valid GNC adjustment candidates and GNC-RF joint adjustment candidates, the target candidate that satisfies all flight safety constraints and has the smallest trajectory deviation is selected.

[0158] The final selected target candidate is encapsulated as a unique decision identifier for the transaction. The joint control transaction involves the status snapshot version number and the communication configuration target effective frame. The PS and PL each complete their respective pre-checks. After both sides pass the pre-checks, GNC control and RF control are executed at the interrelated GNC control cycles and communication frame boundaries, respectively. The PL returns the actual power detection value of the power amplifier and the actual effective communication configuration version; the PS outputs the actual attitude of the aircraft; both jointly acquire the measured link margin. .

[0159] When the measured link improvement reaches more than 80% of the predicted link improvement, the joint control transaction is considered successful. If, after three consecutive transactions, the measured link margin is more than 2dB lower than the predicted link margin, and the model update admission condition is met, then bounded loss correction is performed in the corresponding attitude range to update the link prediction model parameters.

[0160] Once the effective link margin recovers to above 7dB and this good link state is maintained for 1 second, the state machine exits the link warning state. The transmit power gradually decreases according to the slope allowed by the system; the GNC control quantity gradually returns to the original mission trajectory according to the maximum rate of change allowed by the aircraft's flight stability; this is to avoid canceling all compensation actions as soon as the link is restored, causing the link margin to drop again and repeatedly enter the link warning state.

[0161] It is understood that the embodiments of this application are not limited to the hardware, algorithms, and parameters of the foregoing embodiments. Conventional and replaceable implementation methods in the art can also be adopted. As long as a deterministic interaction path is ensured between the GNC state and the communication state, and a unified version association is maintained, the core functions of the technical solution of this application can be realized. For example, the integrated system-on-a-chip can be replaced by a tightly coupled heterogeneous processing component composed of a general-purpose processor and a programmable logic device; dedicated hardware acceleration units can also be integrated on the same package or the same substrate. The interconnection between the baseband board and the RF board can be completed by using a button, spring pin, board-to-board connector, flexible printed circuit board, or controlled impedance backplane. The PS and PL share a memory area, which can be implemented by any combination of on-chip SRAM, off-chip shared DDR memory, hardware mailbox, and DMA queue. The modulation method is not limited to QPSK. The channel coding can adaptively switch between BPSK, QAM, convolutional code, Polar code, or other modulation and coding schemes according to the real-time link quality. The number of frequency points, frequency hopping rate, number of TDMA networking nodes, and frame period can be flexibly configured in combination with spectrum resources and actual task requirements. Link measurement filtering algorithms can include exponential filtering, moving average filtering, median filtering, or Kalman filtering. Candidate selection algorithms can employ finite enumeration, rule-based knowledge bases, model predictive control, hierarchical sorting, Pareto selection, and other algorithms. Online model updates can correct for any one or more of the following: attitude loss, path loss, device implementation loss, and synchronization penalty. Joint control transactions can also include security monitoring processor confirmation, network critical node confirmation, and redundancy broadcast verification mechanisms. The association between GNC control quantities and RF control quantities can be expressed using absolute timestamps, frame numbers, GNC control cycle numbers, or combinations of these identifiers.

[0162] refer to Figure 5 This application also provides a control method for a GNC-controlled high-performance computing and communication data link integrated machine, including:

[0163] Acquire flight status data and communication status data within the same decision-making cycle and generate a status snapshot;

[0164] Generate RF-only adjustment candidates, GNC-only adjustment candidates, and GNC and RF joint adjustment candidates based on the status snapshot;

[0165] For each control candidate, predict the candidate link state in the prediction time domain, and eliminate infeasible control candidates based on flight safety constraints and radio frequency safety constraints;

[0166] From the remaining control candidates, target control candidates are determined according to the rules of prioritizing security link thresholds and prioritizing those with smaller changes;

[0167] Encapsulate the GNC control quantities and RF control quantities in the target control candidate into a joint control transaction with an associated effective relationship;

[0168] Perform execution condition checks on GNC control quantities and RF control quantities respectively. If both checks pass, execute the GNC control quantities and RF control quantities according to their associated effective relationship. If the checks fail, maintain the previous effective control combination.

[0169] Obtain execution feedback carrying the decision identifier of the joint control transaction, verify the candidate link state prediction results, and update the link prediction parameters used in subsequent decision cycles or regenerate control candidates based on the verification results.

[0170] Embodiments of this application also provide an electronic device, including: a memory for storing a computer program; and a processor for executing the computer program to perform the following steps:

[0171] Acquire flight status data and communication status data within the same decision-making cycle and generate a status snapshot;

[0172] Generate RF-only adjustment candidates, GNC-only adjustment candidates, and GNC and RF joint adjustment candidates based on the status snapshot;

[0173] For each control candidate, the candidate link state is predicted in the prediction time domain, and infeasible control candidates are eliminated based on flight safety constraints and radio frequency safety constraints; from the remaining control candidates, the target control candidate is determined according to the rules of priority of safety link threshold and priority of smaller change amount.

[0174] Encapsulate the GNC control quantities and RF control quantities in the target control candidate into a joint control transaction with an associated effective relationship;

[0175] Perform execution condition checks on GNC control quantities and RF control quantities respectively. If both checks pass, execute the GNC control quantities and RF control quantities according to their associated effective relationship. If the checks fail, maintain the previous effective control combination.

[0176] Obtain execution feedback carrying the decision identifier of the joint control transaction, verify the candidate link state prediction results, and update the link prediction parameters used in subsequent decision cycles or regenerate control candidates based on the verification results.

[0177] like Figure 6 As shown, the electronic device may include one or more processors 102 (processor 102 may include, but is not limited to, a processing system such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. In one exemplary embodiment, the electronic device may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 6 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device may also include components that are more... Figure 6 The more or fewer components shown, or having the same Figure 6 Equivalent functions or ratios shown Figure 6 The functions shown have more different configurations.

[0178] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the file upload method in this embodiment. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thus implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage systems, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to a secure text network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0179] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider for the computer terminal. In one example, the transmission system device includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet.

[0180] Embodiments of this application also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to execute the steps in any of the above embodiments of the file transfer method based on dynamic fragmentation.

[0181] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0182] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0183] Obviously, those skilled in the art should understand that the modules or steps of this application described above can be implemented using general-purpose computing systems. They can be centralized on a single computing system or distributed across a network of multiple computing systems. Optionally, they can be implemented using program code executable by a computing system, thereby storing them in a storage system for execution by the computing system. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular combination of hardware and software.

[0184] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A GNC-controlled high-performance computing and communication data link integrated machine, characterized in that: The device includes a baseband board and an RF board housed in the same housing. The baseband board includes a fused system-on-a-chip (SoC) and the fused SoC includes a processing system partition and a programmable logic partition. The RF board is provided with an RF transceiver link connected to the programmable logic partition. The processing system partition is configured to acquire flight status data and communication status data formed by the programmable logic partition. Based on the flight status data and communication status data within the same decision cycle, a status snapshot is formed. Multiple control candidates are generated for the status snapshot, including at least radio frequency individual adjustment candidates, GNC individual adjustment candidates, and GNC and radio frequency joint adjustment candidates. Candidate link status prediction and flight safety constraint screening are performed on each control candidate. Target control candidates are determined from the screened control candidates. The GNC control quantity and radio frequency control quantity in the target control candidate are encapsulated into a joint control transaction with an associated effective relationship. The processing system partition and the programmable logic partition respectively perform execution condition checks on the joint control transaction, and execute the corresponding GNC control quantity and radio frequency control quantity according to the association effect relationship when the check passes; The processing system partition is also configured to verify the candidate link state prediction results based on the execution feedback carrying the decision identifier of the joint control transaction, and update the link prediction parameters used in subsequent decision cycles or regenerate control candidates based on the verification results.

2. The integrated machine for GNC-controlled high-performance computing and communication data link according to claim 1, characterized in that: The processing system partition is used to perform GNC calculation, state snapshot generation, control candidate generation, security constraint judgment, joint control transaction management, and link prediction parameter update. The programmable logic partition is used to perform baseband modulation and demodulation, channel encoding and decoding, frequency hopping control, time division multiple access networking, link measurement, radio frequency control quantity pre-check, and radio frequency control quantity loading; The processing system partition and the programmable logic partition exchange data through an on-chip high-speed bus and a structured shared memory area. Each state snapshot and control transaction in the shared memory area includes a version identifier, timestamp, validity identifier, and integrity verification information.

3. The integrated machine for GNC-controlled high-performance computing and communication data link according to claim 1, characterized in that: The flight status data includes at least two of the following: position, velocity, attitude, angular velocity, remaining energy, and flight safety constraints. The communication status data includes at least two of the following: received signal strength, signal-to-noise ratio, packet error rate, round-trip time, synchronization deviation, power detection value, phase-locked loop status, frequency occupancy status, and data age. The processing system partition determines the effective link margin for controlling candidate generation based on the basic link margin, measurement fluctuation degree, antenna pattern loss caused by attitude, synchronization deviation, data age, and link margin change trend, and restricts track control authority when the data age exceeds the threshold or the measurement confidence is insufficient.

4. The integrated machine for GNC-controlled high-performance computing and communication data link according to claim 1, characterized in that: The adjustable quantities of the radio frequency (RF) individual adjustment candidate include at least one of transmit power, modulation and coding scheme, receive gain, service rate, and frequency hopping set; the adjustable quantities of the GNC individual adjustment candidate include at least one of heading, altitude, speed, and permissible attitude; the GNC and RF joint adjustment candidate includes at least one adjustable quantity of the RF individual adjustment candidate and at least one adjustable quantity of the GNC individual adjustment candidate; when the RF individual adjustment candidate, the GNC individual adjustment candidate, and the GNC and RF joint adjustment candidate are all infeasible, a degradation candidate is generated; wherein, the degradation candidate includes return to home, hovering, relay hold, or non-critical service degradation.

5. The integrated machine for GNC-controlled high-performance computing and communication data link according to claim 1, characterized in that: The candidate link state prediction includes: determining the node distance and candidate attitude in the prediction time domain based on the candidate trajectory corresponding to the control candidate; determining the path loss based on the node distance; determining the attitude loss by querying the antenna pattern based on the candidate attitude; and combining the candidate transmit power, interference loss, realization loss, and the minimum received power corresponding to the candidate modulation and coding scheme to obtain the predicted link margin of the control candidate in the prediction time domain; the flight safety constraint screening is used to eliminate control candidates that violate flight envelope, obstacle avoidance constraints, no-fly zone constraints, mission corridor constraints, energy constraints, power constraints, temperature constraints, or spectrum licensing constraints.

6. The integrated machine for GNC-controlled high-performance computing and communication data link according to claim 5, characterized in that: The target control candidates are determined according to the hierarchical selection rules for the control candidates screened by the flight safety constraints. The hierarchical selection rules include: giving priority to the control candidates that meet the safety link threshold in the prediction time domain; among the control candidates that meet the safety link threshold, giving priority to the control candidates with smaller changes relative to the current mission track and the current radio frequency configuration; when the change meets the preset proximity conditions, then comparing at least two of the following: predicted link failure risk, track deviation, incremental energy consumption, number of configuration switching times and degree of non-critical service degradation.

7. The integrated machine for GNC-controlled high-performance computing and communication data link according to claim 1, characterized in that: The joint control transaction includes at least a decision identifier, a state snapshot version, a communication configuration version, a GNC control quantity, a radio frequency control quantity, a communication activation frame, an associated control cycle, a transaction validity period, and an integrity check value. The processing system partition is used to perform flight safety pre-checks on the GNC control quantity, and the programmable logic partition is used to perform power, temperature, phase-locked loop, frequency, and frame resource pre-checks on the radio frequency control quantity. When both pre-checks pass, the radio frequency control quantity is loaded into the communication activation frame and the GNC control quantity is executed in the associated control cycle. When the state snapshot expires, the version is discontinuous, the integrity check fails, either pre-check fails, or the transaction times out, the combination of the previously valid GNC control quantity and the radio frequency control quantity is maintained.

8. The integrated machine for GNC-controlled high-performance computing and communication data link according to claim 1, characterized in that: The execution feedback includes at least the actual GNC control quantity, actual attitude, power detection value, phase-locked state, actual communication configuration version, packet error rate, and measured link margin after execution. The processing system partition updates at least one of the attitude loss correction, path loss parameters, realization loss, or synchronization penalty based on the residual between the measured link margin and the predicted link margin of the corresponding control candidate. The bounded update is only allowed when the execution feedback is complete, the link measurement is valid, and the interference state has not changed abruptly. The processing system partition also controls power fine-tuning, modulation and coding or service allocation adjustment, and track adjustment according to fast time scale, medium time scale, and slow time scale, respectively.

9. The integrated machine for GNC-controlled high-performance computing and communication data link according to claim 1, characterized in that: The programmable logical partition is further configured to determine the frequency quality based on signal quality parameters, packet error rate, occupancy duration, and recent usage time of multiple frequency points, and form a candidate frequency hopping set based on the frequency quality; set a new version number and a future effective frame for the candidate frequency hopping set; broadcast a summary, new version number, and future effective frame of the candidate frequency hopping set during the preparation phase; and broadcast a submission message after the confirmation node meets the preset confirmation conditions, so that each node switches synchronously in the future effective frame; and cancel the switch and continue to use the old version frequency hopping set if the preset confirmation conditions are not met, the summary verification fails, or the synchronization deviation before effectiveness exceeds the threshold.

10. A control method for a GNC-controlled high-performance computing and communication data link integrated machine, characterized in that, include: Acquire flight status data and communication status data within the same decision-making cycle and generate a status snapshot; Based on the state snapshot, generate radio frequency-only adjustment candidates, GNC-only adjustment candidates, and GNC and radio frequency joint adjustment candidates; For each control candidate, predict the candidate link state in the prediction time domain, and eliminate infeasible control candidates based on flight safety constraints and radio frequency safety constraints; From the remaining control candidates, target control candidates are determined according to the rules of prioritizing security link thresholds and prioritizing those with smaller changes; The GNC control quantity and RF control quantity in the target control candidate are encapsulated into a joint control transaction with an associated effective relationship; The execution conditions of the GNC control quantity and the radio frequency control quantity are checked respectively. If both checks pass, the GNC control quantity and the radio frequency control quantity are executed according to the associated effective relationship. If the checks fail, the previous effective control combination is maintained. Obtain execution feedback carrying the decision identifier of the joint control transaction, verify the candidate link state prediction results, and update the link prediction parameters used in subsequent decision cycles or regenerate control candidates based on the verification results.

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