Redundant flight control and navigation system

Abstract

The present application relates to the technical field of unmanned aerial vehicles. Disclosed is a redundant flight control and navigation system, the system comprising: a plurality of sensors which are connected in sequence, a redundant data fusion and filtering processing system, a sensor information arbitration system, a redundant flight control and navigation computer, and a control information arbitration system. The plurality of sensors are used for collecting various information. The redundant data fusion and filtering processing system is used for carrying out data fusion and filtering processing on the various information collected by the plurality of sensors, and obtaining sensing information. The sensor information arbitration system is used for arbitrating the sensing information, and obtaining a sensing information arbitration result. The redundant flight control and navigation computer is used for receiving the sensing information arbitration result and sending corresponding control information to the control information arbitration system. The control information arbitration system is used for arbitrating the control information, and obtaining a control information arbitration result. Thus, the problem in the existing technology of a flight control and navigation system having low safety and reliability is solved.

Description

A redundant flight control and navigation system

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 18, 2023, with application number 202311204921.5 and invention name “A Redundant Flight Control and Navigation System”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of UAV technology, and in particular to a redundant flight control and navigation system. Background Art

[0003] For some special application industries and scenarios, such as manned flights, highway operations, operations in densely populated areas, and operations carrying expensive mission payloads, higher requirements are placed on the safety and reliability of drones. The flight control and navigation system is the nerve center of the drone, and its safety and reliability play a decisive role in the safety and reliability of the entire machine. Since the flight control and navigation system is an electronic system, it is more prone to failure, which reduces the safety and reliability of the drone. The flight control and navigation systems of drones currently widely used on the market are generally single-redundant. Some flight control systems have dual-redundant backups for key sensors, which improves the local reliability of the flight control system, but still cannot meet the requirements of high safety and reliability. Therefore, the existing technology has the problem of low safety and reliability of flight control and navigation systems.

[0004] Summary of the Invention

[0005] In view of this, the present application provides a redundant flight control and navigation system to solve the problem of low safety and reliability of the flight control and navigation system.

[0006] In the first aspect, the present application provides a redundant flight control and navigation system, comprising: multiple sensors connected in sequence, a redundant data fusion and filtering processing system, a sensor information judgment system, a redundant flight control and navigation computer, and a control information judgment system, the sensor information judgment system is a dual-redundant sensor information judgment system or a redundant sensor information judgment system, and the control information judgment system is a dual-redundant control information judgment system or a redundant control information judgment system; multiple sensors are used to collect multiple information; the redundant data fusion and filtering processing system is used to perform data fusion and filtering processing on the multiple information collected by the multiple sensors to obtain sensor information; the sensor information judgment system is used to judge the sensor information to obtain a sensor information judgment result; the redundant flight control and navigation computer is used to receive the sensor information judgment result and send the corresponding control information to the control information judgment system; the control information judgment system is used to judge the control information to obtain a control information judgment result.

[0007] In the embodiment of the present application, since the data fusion and filtering processing system, the sensor information judgment system, the flight control and navigation computer, and the control information judgment system are all redundant, the purpose of comprehensively improving the safety and reliability of the system is achieved, and each redundancy exists independently. The redundancy can be further increased for any part of the system according to the reliability requirements, thereby achieving the effect of improving the scalability and flexibility of the system, and solving the problem of low safety and reliability of the flight control and navigation systems in related technologies.

[0008] In an optional embodiment, the system further includes: a plurality of actuators; the plurality of actuators are connected to the control information decision system, and are used to receive control information decision results and control the aircraft to execute actions corresponding to the control information decision results.

[0009] In an embodiment of the present application, the control information decision system controls the UAV by sending the control information decision results to multiple actuators.

[0010] In an optional embodiment, the system also includes: a health status monitoring system; the health status monitoring system is connected to multiple sensors, a redundancy data fusion and filtering processing system, a sensor information judgment system, a redundancy flight control and navigation computer, a control information judgment system and multiple actuators, respectively, for collecting a variety of health status information.

[0011] In the embodiment of the present application, a health status monitoring system is used to collect a variety of health status information, thereby achieving the effect of real-time monitoring of the health status of redundant flight control and navigation systems.

[0012] In an optional embodiment, the health status monitoring system is further configured to send a variety of health status information to a ground control station via a measurement and control link.

[0013] In an embodiment of the present application, the health status of the redundant flight control and navigation system is sent to the ground control station through the health status monitoring system, thereby achieving the purpose of timely detecting and processing abnormalities, and further improving the reliability of the operation of the flight control and navigation system.

[0014] In an optional embodiment, the redundancy data fusion and filtering processing system, the sensor information decision system, and the redundancy flight control and navigation computer are respectively a triple-redundancy data fusion and filtering processing system, a dual-redundancy sensor information decision system, and a triple-redundancy flight control and navigation computer, and the dual-redundancy sensor information decision system includes: a master sensor information arbiter, a slave sensor information arbiter, and a first watchdog chip; the master sensor information arbiter and the slave sensor information arbiter are respectively connected to the triple-redundancy data fusion and filtering processing system and the triple-redundancy flight control and navigation computer, and the first watchdog chip is connected to the master sensor information arbiter and the slave sensor information arbiter; the master sensor information arbiter is used to output a sensor information decision result, and the first watchdog chip is used to control the slave sensor information arbiter to output the sensor information decision result when the main sensor information arbiter fails, restart the main sensor information arbiter, and control the main sensor information arbiter to output the sensor information decision result after the main sensor information arbiter returns to normal.

[0015] In an embodiment of the present application, the triple-redundant sensor information arbitration system connects the main sensor information arbiter and the slave sensor information arbiter through the first watchdog chip, thereby achieving the purpose of switching the slave sensor information arbiter to output the sensor information arbitration result and restarting the main sensor information arbiter when the main sensor information arbiter fails, thereby achieving the effect of improving the safety and reliability of the sensor information arbitration system with a simple hardware design.

[0016] In an optional embodiment, the control information decision system is a dual-redundancy control information decision system, which includes: a master control information arbiter, a slave control information arbiter and a second watchdog chip; the master control information arbiter and the slave control information arbiter are respectively connected to a triple-redundancy flight control and navigation computer and multiple actuators, and the second watchdog chip is connected to the master control information arbiter and the slave control information arbiter; the master control information arbiter is used to output a control information decision result, and the second watchdog chip is used to control the slave control information arbiter to output the control information decision result when the master control information arbiter fails, restart the master control information arbiter, and control the master control information arbiter to output the control information decision result after the master control information arbiter returns to normal.

[0017] In an embodiment of the present application, the triple-redundant control information arbitration system connects the master control information arbiter and the slave control information arbiter through a second watchdog chip, thereby achieving the purpose of switching the slave control information arbiter to output the control information arbitration result and restarting the master control information arbiter when the master control information arbiter fails, thereby achieving the effect of improving the safety and reliability of the control information arbitration system with a simple hardware design.

[0018] In an optional implementation, the multiple sensors include: multiple common sensors and multiple key sensors, and the multiple key sensors form a redundant architecture.

[0019] In the embodiment of the present application, redundant backup is performed on key sensors, thereby ensuring the reliable operation of core sensors and further improving the safety and reliability of the flight control and navigation system.

[0020] In an optional embodiment, any sensor is connected to the redundant data fusion and filtering processing system via a dual-redundant CAN bus.

[0021] In the embodiment of the present application, a dual-redundancy CAN bus is used to connect any sensor to the redundant data fusion and filtering processing system, which is more reliable and stable than a single CAN bus, thereby improving the reliability of system information transmission.

[0022] In an optional embodiment, when the sensor information decision system is a redundancy sensor information decision system, the redundancy sensor information decision system includes: multiple slave sensor information deciders; the multiple slave sensor information deciders are used to output sensor information decision results through priority sorting when the main sensor information decider fails.

[0023] In the embodiment of the present application, the purpose of increasing the redundancy of the sensor information arbitration system is achieved by adding multiple slave sensor information arbitrators, improving the flexibility and scalability of the system, and further improving the safety and reliability of the flight control and navigation system.

[0024] In an optional embodiment, when the control information decision system is a redundancy control information decision system, the redundancy control information decision system includes: multiple slave control information deciders; the multiple slave control information deciders are used to output control information decision results through priority sorting when the master control information decider fails.

[0025] In the embodiment of the present application, the purpose of increasing the redundancy of the control information arbitration system is achieved by adding multiple slave control information arbitrators, improving the flexibility and scalability of the system, and further improving the safety and reliability of the flight control and navigation system. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] FIG1 is a block diagram of a redundant flight control and navigation system according to an embodiment of the present application;

[0028] FIG2 is a schematic diagram of a redundant flight control and navigation system architecture according to an embodiment of the present application;

[0029] FIG3 is a block diagram of another redundant flight control and navigation system according to an embodiment of the present application;

[0030] FIG4 is a schematic diagram of the architecture of a dual-redundancy sensor information arbitration system according to an embodiment of the present application;

[0031] FIG5 is a schematic diagram of the overall architecture of a redundant flight control and navigation system according to an embodiment of the present application. DETAILED DESCRIPTION

[0032] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0033] It should be noted that, in the description of this application, the terms "first," "second," and the like are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including," "having," and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements need not be limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, product, or apparatus. The terms "mounted," "connected," and "connected" should be interpreted broadly, for example, to mean fixedly connected, removably connected, or integrally connected; mechanically connected or electrically connected; directly connected or indirectly connected through an intermediary; internally connected between two components; wirelessly connected or wired connected. Those skilled in the art will understand the specific meanings of the above terms in this application on a case-by-case basis.

[0034] According to an embodiment of the present application, an embodiment of a redundant flight control and navigation system is provided, as shown in Figure 1, the system includes: multiple sensors connected in sequence, a redundant data fusion and filtering processing system, a sensor information determination system, a redundant flight control and navigation computer, and a control information determination system, the sensor information determination system is a dual-redundant sensor information determination system or a redundant sensor information determination system, and the control information determination system is a dual-redundant control information determination system or a redundant control information determination system; multiple sensors are used to collect multiple information; the redundant data fusion and filtering processing system is used to perform data fusion and filtering processing on the multiple information collected by the multiple sensors to obtain sensor information; the sensor information determination system is used to determine the sensor information to obtain a sensor information determination result; the redundant flight control and navigation computer is used to receive the sensor information determination result and send corresponding control information to the control information determination system; the control information determination system is used to determine the control information to obtain a control information determination result.

[0035] Optionally, in this embodiment, the redundancy is triple or higher, meaning that multiple sets of hardware and software implementing the same function operate simultaneously, each independent of the other, facilitating further redundancy. Specifically, multiple sensors 101 transmit the collected information to a redundant data fusion and filtering system 102. This system fuses and filters the information to reduce bias in the sensor data and improve data reliability. A sensor information decision system 103 receives the processed sensor information from the redundant data fusion and filtering system 102 and generates a sensor information decision result using a voting algorithm (e.g., a 2:1 voting mechanism). A redundant flight control and navigation computer 104 receives the sensor information decision result and transmits the corresponding control information to a control information decision system 105. Ultimately, the control information decision result obtained by the control information decision system 105 enables safe and reliable control of the drone.

[0036] In the embodiment of the present application, since the data fusion and filtering processing system, the sensor information judgment system, the flight control and navigation computer, and the control information judgment system are all redundant, the purpose of comprehensively improving the safety and reliability of the system is achieved, and each redundancy exists independently. The redundancy can be further increased for any part of the system according to the reliability requirements, thereby achieving the effect of improving the scalability and flexibility of the system, and solving the problem of low safety and reliability of the flight control and navigation systems in related technologies.

[0037] In an optional embodiment, FIG2 is a schematic diagram of the redundant flight control and navigation system architecture according to an embodiment of the present application. As shown in FIG2 , the system includes: a plurality of sensors 201 connected in sequence, a redundant data fusion and filtering processing system 202, a sensor information decision system 203, a redundant flight control and navigation computer 204, and a control information decision system 205. The redundant data fusion and filtering processing system 202 comprises three independent data fusion and filtering processing systems (a first data fusion and filtering processing system 2021, a second data fusion and filtering processing system 2022, and a third data fusion and filtering processing system 2023), each of which receives various information collected by n sensors and outputs the fused and filtered sensor information to the sensor information decision system 203. The sensor information decision system 203 is composed of two sensor information decision devices, one master and one slave, which can switch between master and slave in the event of a fault. The two sensor information arbiters are respectively connected to the first, second, and third flight control and navigation computers 2041, 2042, and 2043 of the redundant flight control and navigation computer 204. These three flight control and navigation computers are then connected to two control information arbiters, one master and one slave, in the control information arbiter system 205. Each redundancy is calculated independently, and the results are compared in the arbiter system (sensor information arbiter system 203 or control information arbiter system 205). Abnormal input signals are discarded, and normal input signals are arithmetic averaged and output as the optimal value. The components of the system shown in Figure 2 are at least dual-redundant, which improves the reliability of each link and eliminates weak links, greatly enhancing the safety and reliability of the flight control and navigation system.

[0038] In this embodiment, a redundant flight control and navigation system is provided. FIG3 is a block diagram of another redundant flight control and navigation system according to an embodiment of the present application. As shown in FIG3 , the system includes: multiple sensors 301, a redundant data fusion and filtering processing system 302, a sensor information decision system 303, a redundant flight control and navigation computer 304, a control information decision system 305, multiple actuators 306, and a health status monitoring system 307. The multiple sensors, the redundant data fusion and filtering processing system, the sensor information decision system, the redundant flight control and navigation computer, and the control information decision system are described in detail in the embodiments shown in FIG1 or FIG2 , and are not further described here. The multiple actuators are connected to the control information decision system to receive control information decision results and control the aircraft to execute actions corresponding to the control information decision results. The health status monitoring system is connected to the multiple sensors, the redundant data fusion and filtering processing system, the sensor information decision system, the redundant flight control and navigation computer, the control information decision system, and the multiple actuators to collect various health status information. Various health status information includes: whether data is being received and sent normally, whether the output data contains any anomalies, etc. It should be noted that the multiple actuators 306 are typically not included in the redundant flight control and navigation system; however, to better illustrate the system's functionality, the actuators 306 are also shown in the system block diagram. During actual operation, the health status monitoring system 307 also monitors the health status of the multiple actuators 306. Optionally, the health status monitoring system 307 acquires real-time health status information corresponding to multiple sensors, the redundant data fusion and filtering processing system, the sensor information decision system, the redundant flight control and navigation computer, the control information decision system, and the multiple actuators, and transmits it to the ground control station via a measurement and control link. In the event of an anomaly, the ground control station staff decides whether the drone should continue operations or return immediately.

[0039] In an optional implementation, taking into account the system cost, the overall redundancy of the general flight control and navigation system does not exceed four degrees of redundancy. This embodiment is illustrated by taking a triple-redundant data fusion and filtering processing system, a dual-redundant sensor information judgment system, a triple-redundant flight control and navigation computer, and a dual-redundant control information judgment system as examples. FIG4 is a schematic diagram of the architecture of a dual-redundancy sensor information arbitration system according to an embodiment of the present application. As shown in FIG4 , the dual-redundancy sensor information arbitration system 403 includes: a master sensor information arbiter, a slave sensor information arbiter, and a first watchdog chip; the master sensor information arbiter and the slave sensor information arbiter are respectively connected to a three-redundancy data fusion and filtering processing system and a three-redundancy flight control and navigation computer, and the first watchdog chip is connected to the master sensor information arbiter and the slave sensor information arbiter; the master sensor information arbiter is used to output a sensor information arbitration result, and the first watchdog chip is used to control the slave sensor information arbiter to output the sensor information arbitration result when the master sensor information arbiter fails, restart the master sensor information arbiter, and control the master sensor information arbiter to output the sensor information arbitration result after the master sensor information arbiter returns to normal.

[0040] Specifically, the dual-redundant sensor information decision system 403 features a simple hardware design, utilizing highly reliable chips and circuits. This achieves the goal of improving the safety and reliability of the control information decision system with a simple hardware design. The reliability of the dual-redundant sensor information decision system 403 is an order of magnitude higher than that of a triple-redundant data fusion and filtering system, as well as a triple-redundant flight control and navigation computer. This ensures that the dual-redundant design of the decision system matches the reliability of the data fusion and filtering system, as well as the flight control and navigation computer. The operating principle of the dual-redundant sensor information decision system 403 is as follows: Under normal circumstances, the master and slave sensor information decision units operate simultaneously, but only the master sensor information decision unit outputs a signal (sensor information decision result), effectively placing the slave sensor information decision unit in hot standby mode. Optionally, the main sensor information arbiter sends a periodic signal to the first watchdog chip; when the main sensor information arbiter fails (does not work or the periodic signal is abnormal), the first watchdog chip sends a signal to the slave sensor information arbiter to control the slave sensor information arbiter to output a signal. At the same time, the first watchdog chip will send a system restart instruction to the main sensor information arbiter. If the main sensor information arbiter restarts successfully and works normally, it will send a periodic signal to the first watchdog chip again. When the first watchdog chip normally receives the periodic signal sent by the main sensor information arbiter, it controls the main sensor information arbiter to take over the work of the slave sensor information arbiter, continues to output signals normally, and controls the slave sensor information arbiter to be in a hot backup state. The working principle and architecture of the dual-redundancy control information arbiter system are similar to those of the dual-redundancy sensor information arbiter system and will not be repeated here.

[0041] In an optional embodiment, the multiple sensors include: multiple ordinary sensors and multiple key sensors, and the multiple key sensors are redundant architectures. Any sensor is connected to the redundant data fusion and filtering processing system through a dual-redundant CAN bus. Specifically, considering that the main failure type of the sensor is complete failure, that is, it completely stops working, redundant backup is made for the key sensors. The key sensors are sensors located at the core position of the drone, which ensure the normal operation of the device function and navigation, such as: accelerometers, gyroscopes, magnetic compasses, air pressure sensors, etc. All sensors are connected to the redundant data fusion and filtering processing system using a dual-redundant CAN bus. Specifically, the two CAN buses are in a working state of one master and one backup. Under normal circumstances, information is transmitted through the main CAN bus. When the CAN bus is abnormal (such as an interruption), the information transmitted by the backup CAN bus is automatically received.

[0042] In the embodiment of the present application, redundant backup is performed on key sensors to ensure the reliable operation of core sensors. A dual-redundant CAN bus is used to connect any sensor to the redundant data fusion and filtering processing system, which is more reliable and stable than a single CAN bus, improves the reliability of system information transmission, and further improves the safety and reliability of the flight control and navigation system.

[0043] In an optional embodiment, when the sensor information decision system is a redundancy sensor information decision system, the redundancy sensor information decision system includes: a plurality of slave sensor information deciders; the plurality of slave sensor information deciders are used to output the sensor information decision result through priority sorting when the main sensor information decider fails. Specifically, by prioritizing the plurality of slave sensor information deciders (such as prioritizing the plurality of slave sensor information deciders according to the historical failure rate), when the main sensor information decider fails, the slave sensor information decider with a high priority sorting result is selected to output the sensor information decision result. This avoids the problem of the unreliable operation of the drone caused by the failure of both the main sensor information decider and one of the slave sensor information deciders, further improving the safety and reliability of the flight control and navigation system. The redundancy control information decision system can adopt an architecture similar to that of the redundancy sensor information decision system.

[0044] In an optional embodiment, Figure 5 is a schematic diagram of the overall architecture of a redundant flight control and navigation system according to an embodiment of the present application. As shown in Figure 5, the GPS / Beidou antenna is a common sensor, while the MEMS gyroscope and accelerometer are key sensors, providing dual-redundancy backup. After being powered on, each sensor operates independently and transmits information to the three-redundant data fusion and filtering processing system via the dual-redundant CAN bus (CAN1 and CAN2). After data processing, the first data fusion and filtering processing system, the second data fusion and filtering processing system, and the third data fusion and filtering processing system output data to the sensor information decision system (such as the dual-redundant sensor information decision system). After comparison, the sensor information decision system directly discards any problematic data through a 2:1 voting mechanism. At the same time, it takes the arithmetic average of the normal input signals and outputs the optimal value to the three-redundant flight control and navigation computer. The first flight control and navigation computer, the second flight control and navigation computer, and the third flight control and navigation computer independently calculate and process the input information to generate control information (decision results), and transmit this control information to the control information decision system (such as the dual-redundant control information decision system). After comparison, the control information decision system transmits the optimal signal to the actuator using the same processing method. The monitoring status monitoring system collects monitoring status information of all hardware in the entire system in real time and transmits it to the triple-redundant flight control and navigation computer. The triple-redundant flight control and navigation computer transmits the system health status information to the ground control station through the measurement and control link. When an abnormality occurs, the ground personnel decide whether to continue the operation or return immediately.

[0045] The embodiments of the present application have the following beneficial effects:

[0046] (1) The redundancy of the flight control and navigation systems is achieved from the overall architecture, and the reliability of each link in the entire system is matched without any weak links.

[0047] (2) The reliability of each link can be improved through flexible expansion. Since the CAN bus theoretically supports more than 100 nodes, it is easy to expand sensors and further increase the redundancy of key sensors. The data fusion and filtering processing system, flight control and navigation computer system, and (sensor information or control information) judgment system each have independent redundancy, which can also be further increased.

[0048] (3) The arbitration system can achieve a more redundant architecture by adding slave arbiters and performing priority sorting.

[0049] (4) The arbitration system adopts the form of multiple arbitrators plus watchdog chips, achieving high reliability and scalability.

[0050] (5) The redundant flight control and navigation system architecture has clear logic in each link, low coupling between links, and is easy to implement in engineering.

[0051] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A redundant flight control and navigation system, characterized in that: The system comprises: a plurality of sensors connected in sequence, a redundancy data fusion and filtering processing system, a sensor information decision system, a redundancy flight control and navigation computer, and a control information decision system, wherein the sensor information decision system is a dual-redundancy sensor information decision system or a redundant sensor information decision system, and the control information decision system is a dual-redundancy control information decision system or a redundant control information decision system; The multiple sensors are used to collect multiple information; the redundancy data fusion and filtering processing system is used to perform data fusion and filtering processing on the multiple information collected by the multiple sensors to obtain sensor information; the sensor information decision system is used to make a decision on the sensor information to obtain a sensor information decision result; the redundancy flight control and navigation computer is used to receive the sensor information decision result and send corresponding control information to the control information decision system; the control information decision system is used to make a decision on the control information to obtain a control information decision result.

2. The redundant flight control and navigation system according to claim 1, characterized in that: The system further comprises: a plurality of actuators; The multiple actuators are connected to the control information decision system, and are used to receive control information decision results and control the aircraft to execute actions corresponding to the control information decision results.

3. The redundant flight control and navigation system according to claim 2, characterized in that: The system also includes: a health status monitoring system; The health status monitoring system is respectively connected to multiple sensors, a redundancy data fusion and filtering processing system, a sensor information determination system, a redundancy flight control and navigation computer, a control information determination system and multiple actuators for collecting a variety of health status information.

4. The redundant flight control and navigation system according to claim 3, characterized in that: The health status monitoring system is also used to send a variety of health status information to a ground control station through a measurement and control link.

5. The redundant flight control and navigation system according to claim 2, characterized in that: The redundant data fusion and filtering processing system, the sensor information decision system and the redundant flight control and navigation computer are respectively a triple-redundant data fusion and filtering processing system, a dual-redundant sensor information decision system and a triple-redundant flight control and navigation computer, and the dual-redundant sensor information decision system includes: a master sensor information decision device, a slave sensor information decision device and a first watchdog chip; The master sensor information arbiter and the slave sensor information arbiter are respectively connected to the three-redundancy data fusion and filtering processing system and the three-redundancy flight control and navigation computer. The first watchdog chip is connected to the master A sensor information determiner and the slave sensor information determiner; The main sensor information arbiter is used to output the sensor information decision result, and the first watchdog chip is used to control the slave sensor information arbiter to output the sensor information decision result when the main sensor information arbiter fails, restart the main sensor information arbiter, and control the main sensor information arbiter to output the sensor information decision result after the main sensor information arbiter returns to normal.

6. The redundant flight control and navigation system according to claim 5, characterized in that: The control information decision system is a dual-redundancy control information decision system, and the dual-redundancy control information decision system includes: a master control information decision device, a slave control information decision device and a second watchdog chip; The master control information arbiter and the slave control information arbiter are respectively connected to the triple-redundant flight control and navigation computer and a plurality of actuators, and the second watchdog chip is connected to the master control information arbiter and the slave control information arbiter; The master control information arbiter is used to output a control information decision result, and the second watchdog chip is used to control the slave control information arbiter to output a control information decision result when the master control information arbiter fails, restart the master control information arbiter, and control the master control information arbiter to output a control information decision result after the master control information arbiter returns to normal.

7. The redundant flight control and navigation system according to claim 1, characterized in that: The multiple sensors include: multiple common sensors and multiple key sensors, and the multiple key sensors are redundant architectures.

8. The redundant flight control and navigation system according to claim 1, characterized in that: Any sensor is connected to the redundant data fusion and filtering processing system through a dual-redundancy CAN bus.

9. The redundant flight control and navigation system according to claim 1, characterized in that: When the sensor information decision system is a redundancy sensor information decision system, the redundancy sensor information decision system comprises: a plurality of slave sensor information deciders; The plurality of slave sensor information arbiters are used to output sensor information decision results by priority sorting when a master sensor information arbiter fails.

10. The redundant flight control and navigation system according to claim 1, characterized in that: When the control information decision system is a redundant control information decision system, the redundant control information decision system comprises: a plurality of slave control information deciders; The plurality of slave control information arbiters are used to output control information decision results by priority sorting when a master control information arbiter fails.

Images