73 results about "Onboard computer" patented technology

The invention relates to a wall-climbing robot system for detecting a coating of a steel pipe truss structure and an application method, and the system comprises a self-adaptive magnetic adsorption mobile platform which can be adaptively and stably adsorbed on steel trusses with different pipe diameters to execute an inspection task; the robot platform is provided with an autonomous positioning navigation system composed of a laser radar, binocular vision and an airborne computer, and the position of the robot is positioned in the steel pipe truss without satellite signals through real-time mapping and a positioning algorithm of tight coupling of laser and vision. The front part of the robot is provided with an electrically foldable surrounding type array camera, so that full-surface coverage type shooting of a steel pipe component is realized, and real-time identification of coating apparent defects is executed in combination with an artificial intelligence disease identification algorithm in an airborne computer; and the lower part of the robot is provided with a telescopic elastic electromagnetic eddy current probe for detecting the thickness of the coating. The method has the advantages that the apparent diseases and the thicknesses of coatings of steel structures such as ceilings of high-speed rail stations and ceilings of large stadiums can be rapidly detected.

The density and power consumption of modern integrated circuits, such as Graphic Processing Units (GPUs), Central Processing Units (CPUs), and Network Processing Units (NPUs) is growing rapidly, which necessitates designing advanced cooling systems. Existing solutions for characterizing and validating these cooling system are inadequate. A flexible, scalable Thermal Test Vehicle (TTV) is disclosed which is based on an array of power transistors, measurement / control circuitry, and onboard computer. The TTV is configured for characterizing the performance of electronic cooling solutions under a variety of operating conditions.

A U-Turn signal indicating system includes a controller that connected to a vehicle by a communication plug and is selectively operated by a vehicle component alone or in conjunction with a user input device. The controller is nested within a main body housing and includes a processor, a memory, and power unit. The vehicle communication plug includes a CAN transceiver for communicating with the CAN bus of a motor vehicle. The plug allows the controller to send and receive information with the vehicle's onboard computers that operate the turn signal indicator lights. The controller detects vehicle settings or actions performed by the driver alone or in combination with the actuation of the user input device and instructs the vehicle computer to operate the turn signal lights in a specific pattern that is provided to the vehicle by the controller.

The invention discloses a semi-physical simulation system of an underwater vehicle and a control method of the semi-physical simulation system, and relates to the technical field of simulation control. The control system comprises a simulation tester, a depth simulator, a three-axis simulation turntable, a real-time simulator, a rudder load simulator, a visual simulation system, a data acquisition and processing subsystem, a depth sensor, an airborne computer, an inertial unit system, an inertial navigation exciter, a gyroscope and a steering engine. In the integrated navigation system, a non-real-time part comprises a turntable control computer and a triple master console; the real-time part comprises a dynamics kinematics model, a three-axis simulation turntable, a GPS / DVL simulator, an electric thrust driving simulator, a depth simulator and a surge interference model; the underwater self-propelled body control system comprises a strapdown inertial navigation assembly, a control management center, a depth sensor, a rudder feedback potentiometer and a steering engine. The method can be used for semi-physical simulation of an underwater vehicle, and can simulate a navigation environment with variable depth.

A chamber houses a camera, light sources, and an onboard computer. The camera may be an infrared camera. Infrared light source fibers feed into a circumferential adapter ring to illuminate the inside of the eye (retina). The adapter ring contains a central opening through which it fits around the camera lens. The adapter ring contains openings along the circumference for infrared fibers to provide a light source. Another light source is provided for illumination of the external surface of the eye adjacent to the camera.

A method for performing direct logging of sensor data in a vehicle network logging system (VNLS) installed on an autonomous vehicle (AV), the VNLS comprising a network switch connected between an onboard sensor of the AV and an onboard computer of the AV, the network switch comprising a logger for logging sensor data to a disk, is described and includes providing a converter node on the network switch; receiving, using the converter node, data generated by the onboard sensor; and converting, using the converter node, the received data to a data record suitable for logging by the logger to the disk.

The present application provides a kind of unmanned aerial vehicle impact system and impact control method, the impact system includes mobile computer, data link ground terminal, remote controller and unmanned aerial vehicle flight device;Mobile computer is configured to display unmanned aerial vehicle situation and photoelectric image, while used to send instruction to unmanned aerial vehicle flight device;Remote controller is configured to carry out flight remote control to unmanned aerial vehicle flight device;Onboard computer on unmanned aerial vehicle flight device is configured to run combined navigation algorithm, give the position, attitude and heading information of unmanned aerial vehicle flight device, realize the navigation, guidance and control of unmanned aerial vehicle flight device;Photoelectric module on unmanned aerial vehicle flight device is configured to real-time investigation and identify target;Communication between mobile computer and unmanned aerial vehicle flight device realizes information interaction;The scheme provided by the present application can realize the control of unmanned aerial vehicle flight device, and impact target through remote control, improve impact response speed, reduce impact cost.

This invention provides a method for actively identifying interference and deception by an inspection drone. The method includes acquiring real-time feedback data from various sensors of the drone to obtain first data; constructing a virtual anti-deception training scenario for the drone and training an intelligent anti-deception strategy model using a hierarchical reinforcement learning training mode; quantitatively deploying the intelligent anti-deception strategy model onto the drone's onboard computer; using the preprocessed first data as input to the intelligent anti-deception strategy model to actively identify interference and deception, and outputting and executing flight decisions in real time. The virtual simulation environment provides diverse data samples for the drone's anti-deception training; it simulates various deception methods and employs adversarial strategy training to improve the model's strategy accuracy; and it uses hierarchical reinforcement learning, through hierarchical decision objectives, to achieve effective decision learning and improve the decision-making ability of the model.

This invention discloses a camera gimbal based on a multi-rotor drone, belonging to the field of drone technology. The drone part includes a center plate main body, a center plate upper plate mounted on top of the center plate main body, landing gear mounted below the center plate main body, and an onboard computer and camera mounted on the center plate upper plate. Sensors are mounted between the center plate main body and the center plate upper plate, and an optical flow meter is mounted below the center plate main body. A 4000mAh 4S large battery is mounted between the landing gear and the center plate main body. The camera of the drone is fixed by a dedicated camera gimbal. A pressure sensor is placed in the center of the camera gimbal's groove. For most monocular and binocular camera models on the market, when placed on the gimbal, the pressure sensor senses the weight and controls the fixing clamps on both sides of the gimbal to automatically clamp the camera. The fixing clamps have a certain angle of change in all directions, allowing the camera to adjust the field of view in all directions (up, down, left, and right).

A semi-physical simulation test platform of a vertical take-off and landing single aircraft comprises an aircraft semi-physical set system, ground test equipment and a tool set system. The aircraft semi-physical set system comprises a power part serving as a physical part, a physical sensor, a control mechanism, test equipment, an onboard computer, flight control software loaded and operated on the onboard computer, and a power simulator, a control simulator and a sensor simulator loaded and operated on the onboard computer or a ground computer. The ground test equipment comprises a test controller and simulation dynamics software loaded and operated on a ground computer; the tool set system is used for connecting the platform with an external test device and comprises an onboard tool, a ground tool and a tool connecting piece, the onboard tool is used for fixing the aircraft semi-physical set system, the ground tool is used for fixing ground test equipment, and the tool connecting piece is used for movably and detachably connecting the onboard tool and the ground tool. When the platform is used for testing, the cost can be effectively reduced, and the aircraft iteration period is accelerated.

This invention discloses a ground-based experimental system and method for onboard autonomous maneuvering mission planning. It utilizes a ground-based telemetry, tracking, and command (TT&C) simulation module to manage TT&C resource constraints, satellite-ground status, and mission requirements based on the test scenario. An onboard computer equivalent module performs autonomous mission planning based on mission instructions generated by the ground-based TT&C simulation module, generating control commands or mission execution sequences. A spacecraft dynamics simulation module determines the satellite's orbit, attitude, and visibility based on the control commands. A space environment simulation module generates sensor simulation data based on the orbit and attitude. A navigation sensor simulation module initiates or terminates the mission based on control commands and generates measurement data based on the sensor simulation data, sending it to the onboard computer equivalent module. A payload execution simulation module simulates the payload's operation process based on the mission execution sequence. This allows for the simulation and comprehensive verification of the entire mission planning algorithm, from mission injection to execution feedback.

This invention discloses a drone navigation method based on Transformer and hypergraph enhancement algorithms. The method utilizes a gimbal camera to capture drone images and acquires satellite images to construct a drone image-satellite image pairing dataset. The drone image-satellite image pairing dataset is then standardized to obtain a standardized pairing dataset. This standardized pairing dataset is input into a visual positioning neural network based on Transformer and hypergraph enhancement algorithms for training, resulting in a visual positioning neural network model. The visual positioning neural network model is converted into Engine format and deployed to an onboard computer, forming a drone visual navigation module for rapid positioning. This invention's drone visual navigation module combines the advantages of lightweight and miniaturized structure with the performance advantages of fast inference speed and high positioning accuracy. It is adaptable to most drone models and has broad engineering application value.

Techniques are discussed herein for restoring autonomous vehicle operations after one or more onboard computer systems have failed. An autonomous vehicle may comprise a primary compute node (PCN), an active motion compute node (MCN) and a backup MCN. In the event of a fault or failure at the active MCN, the backup MCN can take control of the autonomous vehicle, in an operation referred to herein as a "'backup MCN takeover."Subsequent "active MCN takeback" techniques can be applied to restore active MCN control of the autonomous vehicle, and to relinquish backup MCN control of the autonomous vehicle. If an active MCN takeback is successfully completed, the autonomous vehicle can return to an autonomous mission that was in place prior to the fault or failure at the active MCN.

The invention discloses a large-range collaborative navigation method for an extraterrestrial patroller, and relates to the field of computer vision, visual navigation and map splicing. The method comprises the following steps: performing significance analysis based on spectral residual for a right monocular camera, focusing on sight capture of a typical feature region, establishing a visual odometer model of inertial IMU pre-integration, and performing back-end optimization driven by a factor graph; establishing a plurality of extraterrestrial patroller similar region search models based on an improved bag-of-words model, introducing a similarity relative scoring function based on a norm form, setting a relative threshold value of a similarity suppression function, and obtaining an image overlapping region; according to the method, the calculation capability of an airborne computer is considered, a sparse feature point map and patroller pose splicing model is established, complete splicing of overlapped area maps is completed through splicing of small sparse feature point maps, and the splicing precision and the splicing efficiency are improved.

The utility model discloses an unmanned aerial vehicle airborne equipment self-adaptive adjusting and quick dismounting device, which comprises a radar mounting plate, an airborne computer carrying plate, a clamping mechanism and an angle adjusting mechanism, and is characterized in that the clamping mechanism is arranged at the bottom of the airborne computer carrying plate and is used for clamping and separating from an unmanned aerial vehicle; a first stand column set and a second stand column set are arranged on the airborne computer carrying plate, a rotating shaft is arranged on the first stand column set, one end of the radar mounting plate is arranged on the first stand column set through the rotating shaft, and the other end of the radar mounting plate is arranged on the second stand column set through an angle adjusting mechanism. The angle adjusting mechanism is used for adjusting and locking the pitching angle of the radar mounting plate, and a placing space for placing an airborne computer is formed between the radar mounting plate and the airborne computer carrying plate. The device has the advantages of compact structure, high operation efficiency and capability of realizing real-time online processing of radar data.

The invention discloses a high-reliability airborne bus communication device and method.The bus communication device internally adopts a heterogeneous computing architecture of an ARM processor and an FPGA processor, parallel EMIF and differential serial PCIe dual communication is adopted between the ARM processor and the FPGA processor, and the ARM processor carries out classification according to ID numbers of different devices and sends the ID numbers to the FPGA processor; a data format packet of each device is pre-stored in the FPGA processor, the received device data and the format packets are compared and verified, and after confirmation, the received device data and the format packets are simultaneously sent to a system bus through a bus 1 and a bus 2 according to priorities; and external equipment realizes bus communication with the flight control computer and the airborne computer through the protocol interface via the bus communication device. Smooth and reliable communication between airborne equipment and a controller system is achieved on an aircraft, especially a manned aircraft, and reliability and safety of an airborne system bus are guaranteed through effective monitoring and management.

The application discloses a kind of high reliability airborne bus communication device and method, the heterogeneous computing architecture of ARM processor and FPGA processor is used in the bus communication device inside, parallel EMIF and differential serial PCIe double communication are used between ARM processor and FPGA processor, ARM processor is classified according to the ID number of different equipment, and sends to FPGA processor;The data format package of each device is pre-stored in FPGA processor, the received equipment data is compared and verified with format package, after confirming no error, it is sent to system bus simultaneously by bus 1 and bus 2 according to priority level;External equipment passes through the bus communication device through protocol interface, realizes and the bus communication of flight control computer, airborne computer is communicated.The application realizes smooth and reliable communication between airborne equipment and controller system on aircraft, especially manned aircraft, and guarantees the reliable safety of airborne system bus by effective monitoring and management.

The application provides an overcurrent protection circuit of an airborne computer product, and belongs to the technical field of power supply and distribution management of airborne computers, and comprises a power switch and an isolation circuit, which are used for controlling a power supply output switch; a current sampling detection circuit, which is used for establishing a linear relationship between a measured current and an output voltage; a signal conditioning circuit, which is used for conditioning an output signal of the current sampling detection circuit, and outputs a voltage of 0V when the current flowing through is 0A; a comparison circuit, which is used for comparing the voltage output by the signal conditioning circuit with a preset reference voltage, judging whether overcurrent occurs, outputting an overcurrent signal when overcurrent occurs, and closing a power output channel; and a level maintaining circuit, which is used for maintaining the overcurrent signal and preventing the overcurrent signal from failing; after overcurrent failure is eliminated, the overcurrent protection signal is reset through an overcurrent protection reset signal, and the power output channel is reopened. The application improves the safety and reliability of the airborne computer product.

The invention belongs to the field of airborne computer embedded design, and provides a high-robustness wheel speed acquisition method and circuit, and the method comprises the steps: enabling a wheel speed sensor to be connected to a DC power supply access composed of a pull-up / pull-down resistor, so as to provide a drive current; sequentially carrying out overvoltage clamping, first-order band-pass filtering, differential mode interference filtering and second-order low-pass filtering on a differential signal output by the sensor; 5 V reference voltage is amplified and superposed, so that the signal is raised to 0 V or above; square waves are generated through hysteresis comparison, and the FPGA carries out anti-shake and counting to obtain a wheel speed frequency value. And simultaneously executing open circuit detection and BIT excitation self-detection. The circuit comprises a driving unit, a filtering unit, an amplifying unit, a comparing unit, an FPGA unit and a self-checking unit. Through triple filtering, level lifting, digital anti-shake and an isolation type BIT mechanism, the anti-interference capability and reliability are remarkably improved, a special chip is not needed, the cost is reduced by about 12%, and the method is suitable for high-safety scenes such as airplane braking, skid resistance and automatic driving.

The invention provides a control circuit for an airborne radar or a conduction switch, belongs to the technical field of airborne computers, and particularly ensures that a system continues to output stable signals only after an FPGA (Field Programmable Gate Array) is normally operated by utilizing heartbeat signals of the FPGA and a watchdog circuit, and bus driver enabling is timely cut off in an abnormal state. The uncertainty of the IO port output state of the FPGA is converted into a determinable safe output state through the XOR and logic combination operation of the judgment circuit, and the fault-tolerant capability of the system is enhanced. And reading back the opening and closing state of the magnetic latching relay by using the FPGA, and confirming the power-on state of the magnetic latching relay. The safety state design not only improves the reliability of the system, but also simplifies the circuit design, and significantly reduces the risk of failure of the whole circuit caused by a single-point fault, thereby ensuring the high safety of airborne radar or conduction switch control.

The invention relates to the technical field of computer vision and image processing, and discloses an unmanned aerial vehicle aerial image small target real-time detection method and system, and the method comprises the following steps: building dynamic coordinate mapping between a wide-angle imaging device and a long-focus imaging assembly, and carrying out the global situation perception through the wide-angle device, and generating detection query; the airborne computer arbitrates the query, calculates a prospective sampling point to compensate physical delay, generates an instruction to guide the long-focus assembly to perform high-resolution fine detection and returns a response; and performing closed-loop feedback based on response content, optimizing subsequent detection query generation on line, and finally accurately mapping a confirmed target back to the global situation map for fusion output. Through an active sparse sampling strategy, the contradiction between wide-area search and high-precision detection under a resource-limited platform is solved, the capture success rate of a dynamic target is improved through prospective sampling, and the autonomous adaptability and robustness of the system are enhanced through closed-loop feedback.

1. The name of the design product: vehicle-mounted display screen with vehicle information viewing graphical user interface. 2. The use of the design product: the product is used for human-computer interaction instrument system to display vehicle instrument information and vehicle state information related to driving. 3. The design points of the design product: the graphical user interface content of the vehicle-mounted display screen. 4. The picture or photo that best indicates the design points: design 1 interface change state figure 1. 5. Because it is the design inside the vehicle-mounted information screen, the left view, right view, top view, bottom view, rear view is omitted. 6. Design 1 is designated as the basic design. 7. The use of the graphical user interface: used to switch and display vehicle-related information, and can be interacted. Users can control vehicle-related information such as onboard computer data, vehicle data, and other vehicle-related information through vehicle system detection or steering wheel control buttons. Design 1's main view is the system startup interface. After Design 1's main view loads, the interface will enter Design 1 interface change state diagram 1. In Design 1 interface change state diagram 1, after the vehicle self-check is complete, the interface will enter Design 1 interface change state diagram 2. Design 2's main view is also the system startup interface. After Design 2's main view loads, the interface will enter Design 2 interface change state diagram 1. In Design 2 interface change state diagram 1, when the user clicks the light icon in the upper left corner or the steering wheel control, and the system recognizes the light signal, it will enter Design 2 interface change state diagram 2. State diagram 2; Design 3 main view is the system startup interface. After Design 3 main view is loaded, the interface will enter Design 3 interface change state diagram 1. In Design 3 interface change state diagram 1, when the user clicks the steering wheel control system to recognize the wiper signal, it will enter Design 3 interface change state diagram 2; Design 4 main view is the system startup interface. After Design 4 main view is loaded, the interface will enter Design 4 interface change state diagram 1. In Design 4 interface change state diagram 1, when the user shifts into reverse gear, it will enter Design 4 interface change state diagram 2; Design 5 main view is the system startup interface. After Design 5 main view is loaded, the interface will enter Design 5 interface change state diagram 1. In Figure 1, when the user opens the car door, the interface transitions to state 2 (Design 5). The main view of Design 6 is the system startup interface. After the main view of Design 6 loads, the interface transitions to state 1 (Design 6). In state 1 (Design 6), when the vehicle detects a fault or hazard and needs to alert the driver, it transitions to state 2 (Design 6). The main view of Design 7 is the system startup interface. After the main view of Design 7 loads, the interface transitions to state 1 (Design 7). In state 1 (Design 7), when the vehicle is charging, it transitions to state 2 (Design 7). The main view of Design 8 is the system startup interface. After the main view of Design 8 loads, the interface transitions to state 2 (Design 7). The interface transitions to state 1 in Design 8. In state 1, when the user clicks on the steering wheel control to open the settings and the vehicle recognizes the setting signal, it will enter state 2 in Design 8. In state 2, when the user clicks on the vehicle lock settings, it will enter state 3 in Design 8. The main view of Design 9 is the system startup interface. After the main view of Design 9 is loaded, the interface will enter state 1 in Design 9. In state 1, when the system recognizes the new version, it will enter state 2 in Design 9. When the user clicks on "View" in state 2, it will enter state 3 in Design 9.The design 10 main view is a system opening interface. When the design 10 main view is loaded, the interface enters the design 10 interface change state diagram 1. In the design 10 interface change state diagram 1, when the user clicks the square control, the interface enters the design 10 interface change state diagram 2. In the design 10 interface change state diagram 2, when the user slides to the left or clicks the square control, the interface enters the design 10 interface change state diagram 3.

The invention discloses an unmanned aerial vehicle visual positioning method based on semantic weighting adaptive particle filtering. The method comprises the following steps: respectively training semantic feature extraction neural networks of an unmanned aerial vehicle image and a satellite image before an experiment, performing semantic feature extraction on the unmanned aerial vehicle image and the satellite image which are input in real time during the experiment, calculating a classification semantic satellite image for a satellite image semantic map, calculating a classification semantic distance map, and calculating a classification semantic distance map; the relative displacement of the unmanned aerial vehicle is judged for the spaced unmanned aerial vehicle graph, high-weight particle distribution is obtained through a particle filter framework, and finally the global absolute pose of the unmanned aerial vehicle is accurately determined according to the distribution of particles in the unmanned aerial vehicle graph. According to the method, the semantic feature information of the downward-looking image and the satellite image of the unmanned aerial vehicle is effectively integrated, the calculation amount is reduced, the positioning precision is improved, high robustness and high efficiency are achieved, meanwhile, the method can be deployed on various small onboard computers, and the method is widely applied to autonomous positioning of the unmanned aerial vehicle under the denial condition.

The application provides an airborne single-chip microcomputer fault diagnosis method, and relates to the field of airborne computer software, and comprises the following steps: defining a fault equation model file of the airborne single-chip microcomputer; writing the fault equation model file in an XML format, saving the model file in the XML format as a binary file, generating a fault model binary file, and burning the fault model binary file to the Flash of the single-chip microcomputer; executing the fault model binary file through a preset program in the single-chip microcomputer to obtain an airborne single-chip microcomputer fault diagnosis result. The static part and the dynamic part of the fault equation system are separated, and a method for simulating memory allocation in a large array is introduced, so that the required memory space of the fault equation system is greatly reduced, the airborne single-chip microcomputer with limited storage space and without an operating system and a file system is applicable, and the fault variables and the fault equations in the traditional fault equation system are unified as fault equations, so that the cascade of the fault equations is realized.

This application discloses a primary-backup fault-tolerant storage architecture for spaceborne computers, relating to the field of spaceborne solid-state memory technology. It includes a physical storage module and a fault-tolerant management module. The physical storage module comprises: a primary boot partition for storing the computer system's bootloader; a primary system root partition for storing system files; a backup partition comprising three independent sub-storage areas—a first sub-storage area, a second sub-storage area, and a third sub-storage area—each storing a mirrored data packet formed by combining data from the primary boot partition and data from the primary system root partition; and a data partition for storing user data. This architecture enables the primary boot partition and primary system root partition to operate in single-copy mode during normal task execution, completely avoiding the additional latency, bandwidth consumption, and CPU overhead caused by real-time data synchronization and online voting, thereby maximizing the core performance and efficiency of spaceborne task processing.

Systems and methods for injecting a microbial inhibitor into a subsurface formation include a downhole tool including a tool body; a tank disposed within the tool body configured to contain a microbial inhibitor fluid; an injection nozzle fluidly connected to the tank. The injection nozzle can extend from an outer surface of the tool body. An injection pump is coupled to the tank to pump the microbial inhibitor fluid from the tank through the injection nozzle. A sensor is configured to measure a microbial concentration, a hydrogen concentration, or both. An onboard computer system disposed within the tool body is configured to operate the injection pump and the injection nozzle to inject the microbial inhibitor fluid into the subsurface formation in response to measurements from the sensor.

The invention relates to an end-side cooperative mine robot multi-modal semantic SLAM method and system. The method comprises the following steps: a mine robot executes a laser radar inertial odometer and local mapping; the edge server executes the visual inertial odometer and global mapping; image segmentation and point cloud segmentation tasks are executed in parallel based on a segmentation algorithm, dynamic target detection is carried out by adopting a mask migration and dynamic elimination strategy, and a global map is updated; the edge end corrects the point cloud label and issues map updating information, and the mobile end updates the local map; carrying out multi-modal fusion pose optimization; and the optimized result information is issued, and the mine robot updates the map and the pose according to the result information. According to the system, a mine robot carries a laser radar, a visual camera and an onboard computer, and an edge server is connected with the mine robot through a wireless communication link between a first wireless communication module and a second wireless communication module. According to the invention, the accuracy and real-time performance of the multi-modal SLAM of the mine robot in a dynamic complex underground environment can be effectively improved.

The invention belongs to the technical field of airborne computer communication and aviation safety monitoring, and provides an aircraft wireless tire pressure sensor positioning method based on channel state information, and the method is realized by relying on a wireless network constructed by sensor nodes, relay nodes and gateway nodes. Receiving a wireless signal carrying the rotation acceleration of the aircraft tire sent by the sensor node through the relay node; candidate sensor nodes of the same wheel axle are selected from the channel state information of the wireless signals, and the left and right directions of the candidate sensor nodes are judged, so that the mapping relation between the sensor nodes and tires is established and then forwarded to the gateway node; and the gateway node gathers the position information of each relay node to generate a tire pressure sensor-tire position mapping table. According to the method, accurate and dynamic matching of the position relation between the tire pressure sensor and the aircraft tire is completed, so that a pilot or a ground crew can make a quick and accurate response to the real-time abnormity of a specific tire in time, and reliable guarantee is provided for safe driving of an aircraft.

An ultra-high-speed jet type liquid-solid two-phase flow erosive wear experimental device comprises an experimental box body, a normal-pressure water storage tank, a sand storage tank, a high-pressure pump station, a sand supply device, a nozzle and a carrying disc. An airborne computer is arranged in the experiment box body, and the airborne computer is provided with a touch control type operation screen; the experiment box body, the normal-pressure water storage tank and the sand storage tank are distributed in parallel, the high-pressure pump station and the sand supply device are located on the inner side of the experiment box body, and the loading disc and the nozzle are distributed in parallel; a horizontal posture adjusting mechanism is arranged above the nozzle, a suspension arm is arranged on the horizontal posture adjusting mechanism, and a three-degree-of-freedom electric manipulator is arranged between the nozzle and the bottom of the suspension arm; a rotary posture adjusting motor is arranged between the loading disc and the experiment box body; a plurality of sample placing grooves are uniformly distributed in the loading disc along the circumferential direction. According to the scheme, cavitation erosion and erosion integrated simulation can be achieved, the ultra-high-speed jet flow capacity is achieved, the jet flow sand content, the jet flow attack angle and the jet flow distance can be accurately controlled, and erosive wear experiments of multiple sets of samples can be achieved at the same time under the same jet flow condition.

The invention provides an unmanned aerial vehicle cross-system cooperative trusted starting method and device, and relates to the technical field of computers, and the method comprises the steps: carrying out the chain verification of an initial environment of an airborne computer of an unmanned aerial vehicle, and obtaining a first verification result; based on the first verification result, establishing a trusted communication interface between the airborne computer and a flight controller of the unmanned aerial vehicle; based on an instruction sent by the airborne computer and the trusted communication interface, performing parallel verification on a startup loading component of the flight controller to obtain a second verification result; wherein the startup loading component comprises a main bootstrap program, a real-time operating system and a flight control main program; and starting a flight control system of the unmanned aerial vehicle based on the second verification result. According to the unmanned aerial vehicle cross-system cooperative credible starting method provided by the invention, on the basis of confirming that the starting loading component is safe, complete and credible, the flight control system is started, and the unmanned aerial vehicle cross-system cooperative credible starting is realized.