CN115390432B - Redundancy unmanned aerial vehicle flight control system and flight control method - Google Patents

Abstract

The invention discloses a redundancy unmanned aerial vehicle flight control system and a flight control method. Each flight control computer is respectively connected with the other flight control computers and the motor driver through a plurality of groups of buses, and transmits the flight control quantity data packet obtained by calculation to the other flight control computers; and comparing the selected optimal flight control computer, and transmitting the calculated flight control quantity data packet to the motor controller. In addition, if all the flight control computers or buses are in failure in an extreme condition, the system can control the unmanned aerial vehicle to fly safely by using the cloud computing server. According to the invention, through the multi-redundancy structure of the sensor, the flight control computer and the bus, the unmanned aerial vehicle has stronger disaster tolerance and fault tolerance performance, and the safety and stability of the unmanned aerial vehicle are improved.

Description

A kind of redundant unmanned aerial vehicle flight control system and flight control method

technical field

The invention relates to the field of unmanned aerial vehicles, in particular to a flight control system and a flight control method for redundant unmanned aerial vehicles.

Background technique

The application scenarios of drones are becoming more and more extensive, such as urban air traffic, power inspection, aerial photography and aerial survey, logistics express, fire rescue, etc. The flight control system is very important for multi-rotor drones. Once the flight control system fails during the flight of the drone, the flight mission of the drone will not be completed or even cause a crash. In order to improve the stability of the flight control system, redundancy technology is usually used to design the flight control computer system, the essence of which is to shield the influence of faulty components by increasing the redundancy resources.

Moreover, most of the redundant flight control systems now contain a single redundancy decision-making module, a redundancy switching module or an actuator. For example, the Chinese invention patent with the application number 202110591136.4 discloses a method, system and computer equipment for redundancy arbitration switching of UAVs. The invention contains a TX2 system decision-making module and a redundancy switching circuit. Once the TX2 system decision-making module or If the redundancy switching circuit fails, the entire flight control system will experience a single point of failure and will not be able to operate normally. For example, the Chinese invention patent with the application number 201711459689.4 discloses a UAV flight control system and flight control method based on a distributed redundancy bus. The invention contains an actuation controller module. Once the actuation controller module fails , the entire flight control system will have an error, and the aircraft cannot be controlled to fly normally. Most redundant flight control systems now use a single-group bus design. If the bus fails, it will bring disastrous consequences to the UAV. In addition, most redundant flight control systems adopt a structure in which multiple flight control computers share a set of sensors, which is detrimental to the stability of the entire flight control system.

Therefore, the technical problems of single-point failure, multiple flight control computers sharing a set of sensors and single bus in the redundant flight control system need to be solved urgently.

Contents of the invention

Aiming at the deficiencies of the prior art, the present invention proposes a flight control system and a flight control method for a redundant unmanned aerial vehicle. The method can solve the technical problems of a single point of failure in a redundant flight control system, a set of sensors shared by multiple flight control computers and a single bus.

The purpose of the present invention is achieved by adopting the following technical solutions:

3；IMU获取多旋翼无人机的加速度和角速度信息，磁罗盘获取多旋翼无人机的方向信 息，气压计获取多旋翼无人机的高度信息，GPS模块获取多旋翼无人机的位置和速度信息； 每个飞控计算机通过多组总线分别与其余的飞控计算机和电机驱动器相连，将自己计算得 到的飞行控制量数据包传给其余的飞控计算机，然后每个飞控计算机将包括自己在内的所 有飞控计算机的飞行控制量数据进行比对，判断自己是否为最优飞控计算机，若为最优飞 控计算机则将自己计算得到的飞行控制量封装到数据包中传输给电机控制器；所述的云计 算服务器主要用于接收云计算传感器数据处理单元发送过来的传感器数据，并利用这些传 感器数据计算得到飞行控制量发送给电机驱动器，当云计算服务器在接受到电机控制器发 送过来的报警信息后将控制无人机安全飞行，所述的云计算传感器数据处理单元包括传感 器数据处理计算机、5G数传模块、IMU、磁罗盘、气压计以及GPS，其中5G数传模块用于将云计 算传感器数据处理单元采集的传感器数据发送到云计算服务器。 A redundant UAV flight control system, the redundant UAV flight control system includes a plurality of flight control computing units, cloud computing servers and cloud computing sensor data processing units; all flight control computing units have the same structure, and Including the flight control computer and N IMUs connected to the flight control computer, N magnetic compasses, N barometers, and N GPS modules, where N is a natural number and N

3. The IMU obtains the acceleration and angular velocity information of the multi-rotor UAV, the magnetic compass obtains the direction information of the multi-rotor UAV, the barometer obtains the altitude information of the multi-rotor UAV, and the GPS module obtains the position and Speed information; each flight control computer is connected to the rest of the flight control computers and motor drivers through multiple bus lines, and transmits the flight control data packets calculated by itself to the rest of the flight control computers, and then each flight control computer will include Compare the flight control data of all flight control computers including yourself, and judge whether you are the optimal flight control computer. Motor controller; the cloud computing server is mainly used to receive the sensor data sent by the cloud computing sensor data processing unit, and use these sensor data to calculate the flight control amount and send it to the motor driver. When the cloud computing server receives the motor control After the alarm information sent by the controller, the UAV will be controlled to fly safely. The cloud computing sensor data processing unit includes a sensor data processing computer, a 5G data transmission module, an IMU, a magnetic compass, a barometer and a GPS, wherein the 5G data transmission module It is used to send the sensor data collected by the cloud computing sensor data processing unit to the cloud computing server.

Further, the alarm information is specifically the information sent by the motor controller to the cloud computing server when the flight control computer fails or the bus fails.

Further, the IMU includes an accelerometer and a gyroscope.

Further, the cloud computing server is installed on the ground and connected to the 5G network.

Specifically, the motor controller contains a 5G data transmission module, which is used to send alarm information to the cloud computing server and accept flight control data packets sent by the cloud computing in extreme cases where the flight control computer fails or the bus fails. .

Further, the cloud computing sensor data processing unit is installed on the drone body.

A non-similar redundant UAV flight control method, the flight control method comprising:

(1) Determine the priority of each flight control computer, and the priority of flight control computer 1 to flight control computer N decreases in turn;

(2) Determine the priority of the sensors connected to the flight control computer, and the priority of the same type of sensors decreases from number 1 to number N;

(3) Determine the priority of multiple groups of buses, and the priorities from bus 1 to bus N decrease in order;

(4) Each flight control computer collects all its own sensor data, compares the same type of sensor data and selects healthy sensors for flight control calculations. If multiple sensors of the same type are in a healthy state, priority will be used High sensor; the specific process of selecting healthy sensors by comparison is as follows: if the flight control computer finds that the data comparison results of the same type of sensors are consistent, then determine that each sensor is in a healthy state; if one of the sensors is inconsistent with other sensor data , then determine that the sensor is not in a healthy state, and silence the sensor;

(5) Each flight control computer uses the data collected by the health status sensor to perform flight control calculations, and obtains the corresponding flight control amount according to the calculation results, and each flight control computer encapsulates the flight control amount obtained by itself into a data packet; The data packets are sent to the other flight control computers through each group of buses for data comparison; at the same time, each flight control computer will receive the flight control data packets transmitted from the other flight control computers through each group of buses and analyze them. Obtain the corresponding flight control amount, and then compare the flight control amount of each flight control computer in the redundant flight control system with the flight control amount of other flight control computers except itself in order from small to large serial numbers, until all When the comparison results are consistent, it is confirmed that the flight control computer is healthy, and the comparison operation is no longer performed; then the serial number corresponding to the healthy flight control computer is compared with the flight control computer serial number for the comparison operation, if the serial number is the same Then the flight control computer that should do the comparison calculation processing work is the optimal flight control computer, and the flight control data of the optimal flight control computer is encapsulated into a data packet and transmitted to the motor controller. If the serial numbers are inconsistent, the optimal flight control computer will not be The flight control quantity of the computer is encapsulated into a data packet and transmitted to the motor controller; if each flight control computer cannot receive the flight control quantity data packet transmitted by the other flight control computers through a certain group of buses, it is determined that the group of buses is not healthy state, and silence the group of buses;

(6) After the motor controller receives multiple flight control data packets through several groups of health buses, it analyzes the flight control data packets transmitted by the high-priority bus to obtain the flight control data, and then controls the operation of the motor;

(7) If all the flight control computing units fail or all the buses fail, the motor driver cannot receive the flight control data packet, and the motor driver will send an alarm message to the cloud computing server through the 5G data transmission module, and the cloud computing server receives After the alarm information, the sensor data sent by the cloud computing sensor data processing unit is used to calculate the flight control amount and send it to the motor driver, so as to control the flight of the UAV.

The beneficial effects of the present invention are as follows:

(1) The present invention contains multiple flight control computers. When one of the flight control computers in the system fails, no switching process is required, and the motor driver directly uses the data transmitted by the remaining flight control computers to control the flight of the UAV, so that The invention has stronger disaster recovery and fault tolerance performance, and also improves the safety and reliability of the flight of the unmanned aerial vehicle. It also realizes the redundancy of IMU, magnetic compass, barometer and GPS multi-sensors. When one of the sensors fails, the flight control computer will select other healthy sensors of the same type to use, which improves the stability and robustness of the entire system. .

(2) The present invention does not contain a separate redundant arbitration module, redundant switching module or actuation controller module, so it avoids the single point of failure caused by the failure of the redundant adjudication module, redundant switching module or actuation controller module happened. For the extreme situation that all flight control computers fail or all buses fail, the present invention proposes a cloud control strategy to control the safe flight of the aircraft, which further increases the disaster tolerance and fault tolerance performance of the entire system. The invention implements redundancy for the buses, and when one group of buses in the system fails, no switching process is needed, and other buses can ensure the normal operation of the whole system. Compared with the system of single group bus, the present invention is more stable.

Description of drawings

Fig. 1 is a functional block diagram of the present invention.

Detailed ways

The present invention will be described in further detail below according to the drawings and specific embodiments.

3；IMU获取多旋翼无人机的加速度和角速度信息，磁罗盘获取 多旋翼无人机的方向信息，气压计获取多旋翼无人机的高度信息，GPS模块获取多旋翼无人 机的位置和速度信息；每个飞控计算机通过多组总线分别与其余的飞控计算机和电机驱动 器相连，将自己计算得到的飞行控制量数据包传给其余的飞控计算机，然后每个飞控计算 机将包括自己在内的所有飞行控制量数据进行比对，判断自己是否为选出最优飞控计算 机，若为最优飞控计算机则将自己计算得到的飞行控制量封装到数据包中传输给电机控制 器。所述的云计算服务器主要用于接收云计算传感器数据处理单元发送过来的IMU、磁罗 盘、气压计以及GPS传感器数据，并利用这些传感器数据计算得到飞行控制量发送给电机驱 动器，当云计算服务器在接受到电机控制器发送过来的报警信息后将控制无人机安全飞 行。所述的云计算传感器数据处理单元包括传感器数据处理计算机、5G数传模块、IMU、磁罗 盘、气压计以及GPS，其中5G数传模块用来将云计算传感器数据处理单元采集的IMU、磁罗 盘、气压计以及GPS传感器数据发送到云计算服务器。 The embodiment shown in Figure 1, the present invention is a kind of redundant UAV flight control system, described redundant degree flight control system comprises a plurality of flight control calculation units, cloud computing server and cloud computing sensor data processing unit; all The flight control calculation unit has the same structure, including the flight control computer and N IMUs connected to the flight control computer, N magnetic compasses, N barometers, and N GPS modules. N is a natural number and N

3. The IMU obtains the acceleration and angular velocity information of the multi-rotor UAV, the magnetic compass obtains the direction information of the multi-rotor UAV, the barometer obtains the altitude information of the multi-rotor UAV, and the GPS module obtains the position and Speed information; each flight control computer is connected to the rest of the flight control computers and motor drivers through multiple sets of buses, and transmits the flight control data packets calculated by itself to the rest of the flight control computers, and then each flight control computer will include Compare all the flight control data including yourself, and judge whether you have selected the optimal flight control computer. If it is the optimal flight control computer, encapsulate the flight control data calculated by yourself into a data packet and transmit it to the motor control device. The cloud computing server is mainly used to receive the IMU, magnetic compass, barometer and GPS sensor data sent by the cloud computing sensor data processing unit, and use these sensor data to calculate the flight control amount and send it to the motor driver. When the cloud computing server After receiving the alarm information sent by the motor controller, the UAV will be controlled to fly safely. The cloud computing sensor data processing unit includes a sensor data processing computer, a 5G data transmission module, an IMU, a magnetic compass, a barometer and a GPS, wherein the 5G data transmission module is used to collect the IMU and the magnetic compass collected by the cloud computing sensor data processing unit. , barometer and GPS sensor data are sent to the cloud computing server.

The alarm information is specifically the information sent by the motor controller to the cloud computing server when the flight control computer fails or the bus fails.

The IMU includes an accelerometer and a gyroscope.

The cloud computing server is installed on the ground and connected to the 5G network.

The motor controller contains a 5G data transmission module, which is used for sending alarm information to the cloud computing server and receiving flight control data packets sent by the cloud computing under extreme circumstances where the flight control computer or the bus fails.

The cloud computing sensor data processing unit is installed on the drone body.

A kind of redundant unmanned aerial vehicle flight control method, described flight control method comprises:

(1) Determine the priority of each flight control computer, and the priority of flight control computer 1 to flight control computer N decreases in turn;

(2) Determine the priority of the sensors connected to the flight control computer, and the priority of the sensors of the same data type will decrease from number 1 to number N;

(3) Determine the priority of multiple groups of buses, and the priorities from bus 1 to bus N decrease in order;

(4) Each flight control computer collects all its own sensor data, compares the sensor data of the same type and selects healthy sensors for flight control calculations. If multiple sensors of the same type are in a healthy state, priority will be given to priority High; the specific process of selecting healthy sensors by comparison is: if the flight control computer finds that the data comparison results of the same type of sensors are consistent, then determine that each sensor is in a healthy state; if one of the sensors is inconsistent with other sensor data, Then it is determined that the sensor is in an unhealthy state.

(5) Each flight control computer uses the data collected by the health status sensor to perform flight control calculations, and obtains the corresponding flight control amount according to the calculation results, and each flight control computer encapsulates the flight control amount obtained by itself into a data packet; The data packets are sent to the other flight control computers through each group of buses for data comparison; at the same time, each flight control computer parses the flight control data packets received from the other flight control computers through each group of buses to obtain corresponding data packets. Then compare the flight control quantities of each flight control computer in the redundant flight control system with the flight control quantities of other flight control computers except itself in order from small to large in serial number, until all comparisons appear When the results are consistent, it is confirmed that the flight control computer is healthy, and the comparison operation is no longer performed. Then compare the serial number of the healthy flight control computer with the serial number of the flight control computer that should do the comparison operation. The flight control quantity of the optimal flight control computer is encapsulated into a data packet and transmitted to the motor controller. If the serial numbers are inconsistent, the flight control quantity of the optimal flight control computer is not encapsulated into a data packet and transmitted to the motor controller. If each flight control computer cannot receive the flight control data packets transmitted by other flight control computers through a certain group of buses, it is determined that the group of buses is not in a healthy state, and the group of buses is silent. With the method of the present invention, all the flight control computers are distributed for comparison calculation and only one optimal flight control computer can be determined, so the serial number of the optimal flight control computer is only the same as itself, and the others are different.

(6) After the motor controller receives multiple flight control data packets through several groups of health buses, it analyzes the flight control data packets transmitted from the high-priority bus to obtain the flight control data, and then controls the operation of the motor.

(7) When there is an extreme situation where all the flight control computing units fail or the bus fails completely, the motor driver cannot receive the flight control data packet, and then the motor driver will send an alarm message to the cloud computing server through the 5G data transmission module After the cloud computing server receives the alarm packet information, it will use the sensor data sent by the cloud computing sensor data processing unit to calculate the flight control amount and send it to the motor driver, so as to realize the flight control of the UAV.

Based on the above, the present invention contains multiple flight control computers. When one of the flight control computers in the system fails, no

In any switching process, the motor driver directly uses the data transmitted by the rest of the flight control computer to control the flight of the UAV, which makes the invention have stronger disaster tolerance and fault tolerance performance, and also improves the safety and reliability of the UAV flight.

The present invention also realizes the redundancy of IMU, magnetic compass, barometer and GPS multi-sensors. When one of the sensors fails, the flight control computer will select other healthy sensors of the same type for use, which improves the stability and robustness of the entire system. Stickiness.

The present invention does not contain a separate redundant arbitration module, redundant switch module or actuation controller module, thus avoiding the occurrence of a single point of failure due to failure of the redundant adjudication module, redundant switch module or actuation controller module.

For the extreme situation where all flight control computers fail or all buses fail, the present invention proposes a cloud control strategy to control the safe flight of the aircraft, which further increases the disaster tolerance and fault tolerance performance of the entire system.

The present invention carries out redundant design on the bus, and when one group of buses fails, other buses can still ensure the normal operation of the whole system. Compared with the single bus design, the present invention is more stable and reliable.

The above descriptions are only preferred examples of the invention, but are not intended to limit the invention. For anyone skilled in the art, without departing from the scope of the technical solution of the present invention, the above-mentioned technical solution may be modified, or some technical features thereof may be equivalently replaced. All modifications, equivalent replacements, etc. that do not deviate from the technical content of the present invention shall be included in the protection scope of the present invention.

Claims (7)

1. A kind of redundancy UAV flight control system, it is characterized in that, described redundancy UAV flight control system comprises a plurality of flight control calculation units, cloud computing server and cloud computing sensor data processing unit; all flight control The computing units have the same structure, including the flight control computer and N IMUs connected to the flight control computer, N magnetic compasses, N barometers and N GPS modules, where N is a natural number and N

3. The IMU obtains the acceleration and angular velocity information of the multi-rotor UAV, the magnetic compass obtains the direction information of the multi-rotor UAV, the barometer obtains the altitude information of the multi-rotor UAV, and the GPS module obtains the position and Speed information; each flight control computer is connected to the rest of the flight control computers and motor drivers through multiple bus lines, and transmits the flight control data packets calculated by itself to the rest of the flight control computers, and then each flight control computer will include Compare the flight control data of all flight control computers including yourself, and judge whether you are the optimal flight control computer. Motor controller; the cloud computing server is mainly used to receive the sensor data sent by the cloud computing sensor data processing unit, and use these sensor data to calculate the flight control amount and send it to the motor driver. When the cloud computing server receives the motor control After the alarm information sent by the controller, the UAV will be controlled to fly safely. The cloud computing sensor data processing unit includes a sensor data processing computer, a 5G data transmission module, an IMU, a magnetic compass, a barometer and a GPS, wherein the 5G data transmission module It is used to send the sensor data collected by the cloud computing sensor data processing unit to the cloud computing server. 2. A kind of redundant UAV flight control system according to claim 1, characterized in that, the alarm information, specifically, when the flight control computer fails or the bus fails, the motor controller sends the cloud computing information from the server. 3. A kind of redundant unmanned aerial vehicle flight control system according to claim 1, is characterized in that, described IMU comprises accelerometer and gyroscope. 4. A kind of redundant unmanned aerial vehicle flight control system according to claim 1, is characterized in that, described cloud computing server is installed on ground end and connects 5G network. 5. A kind of redundant UAV flight control system according to claim 1, characterized in that, the motor controller contains a 5G data transmission module, which is used for extreme cases where the flight control computer fails or the bus fails Under the circumstances, the alarm information is sent to the cloud computing server and the flight control quantity data packet sent by the cloud computing is accepted. 6. A kind of redundant unmanned aerial vehicle flight control system according to claim 1, is characterized in that, described cloud computing sensor data processing unit is installed in unmanned aerial vehicle body. 7. A non-similar redundancy unmanned aerial vehicle flight control method, is characterized in that, described flight control method comprises: (1) Determine the priority of each flight control computer, and the priority of flight control computer 1 to flight control computer N decreases in turn; (2) Determine the priority of the sensors connected to the flight control computer, and the priority of the same type of sensors decreases from number 1 to number N; (3) Determine the priority of multiple groups of buses, and the priorities from bus 1 to bus N decrease in order; (4) Each flight control computer collects all its own sensor data, compares the same type of sensor data and selects healthy sensors for flight control calculations. If multiple sensors of the same type are in a healthy state, priority will be used High sensor; the specific process of selecting healthy sensors by comparison is as follows: if the flight control computer finds that the data comparison results of the same type of sensors are consistent, then determine that each sensor is in a healthy state; if one of the sensors is inconsistent with other sensor data , then determine that the sensor is not in a healthy state, and silence the sensor; (5) Each flight control computer uses the data collected by the health status sensor to perform flight control calculations, and obtains the corresponding flight control amount according to the calculation results, and each flight control computer encapsulates the flight control amount obtained by itself into a data packet; The data packets are sent to the other flight control computers through each group of buses for data comparison; at the same time, each flight control computer will receive the flight control data packets transmitted from the other flight control computers through each group of buses and analyze them. Obtain the corresponding flight control amount, and then compare the flight control amount of each flight control computer in the redundant flight control system with the flight control amount of other flight control computers except itself in order from small to large serial numbers, until all When the comparison results are consistent, it is confirmed that the flight control computer is healthy, and the comparison operation is no longer performed; then the serial number corresponding to the healthy flight control computer is compared with the flight control computer serial number for the comparison operation, if the serial number is the same Then the flight control computer that should do the comparison calculation processing work is the optimal flight control computer, and the flight control data of the optimal flight control computer is encapsulated into a data packet and transmitted to the motor controller. If the serial numbers are inconsistent, the optimal flight control computer will not be The flight control quantity of the computer is encapsulated into a data packet and transmitted to the motor controller; if each flight control computer cannot receive the flight control quantity data packet transmitted by the other flight control computers through a certain group of buses, it is determined that the group of buses is not healthy state, and silence the group of buses; (6) After the motor controller receives multiple flight control data packets through several groups of health buses, it analyzes the flight control data packets transmitted by the high-priority bus to obtain the flight control data, and then controls the operation of the motor; (7) If all the flight control computing units fail or all the buses fail, the motor driver cannot receive the flight control data packet, and the motor driver will send an alarm message to the cloud computing server through the 5G data transmission module, and the cloud computing server receives After the alarm information, the sensor data sent by the cloud computing sensor data processing unit is used to calculate the flight control amount and send it to the motor driver, so as to control the flight of the UAV.

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