WO2024046055A1 - Aircraft fault protection method and device, and computer-readable storage medium - Google Patents

Abstract

An aircraft fault protection method and device, and a computer-readable storage medium. The aircraft fault protection method comprises: when a preset trigger condition is satisfied, generating an alarm prompt corresponding to the trigger condition (S1); when the alarm prompt is not at a preset alarm level, sending the alarm prompt to a ground station connected to an aircraft (S2); and when the alarm prompt is at the alarm level and there is an automatic processing mechanism corresponding to the alarm prompt, controlling, according to the priority of the alarm prompt, the aircraft to execute the automatic processing mechanism corresponding to the alarm prompt (S3). The aircraft fault protection method realizes a more efficient and better fault protection scheme, and improves the processing capability of an aircraft for fault scenarios such as an instruction abnormality, a control abnormality and a state abnormity occurring in a data link, thereby ensuring flight safety.

Description

A kind of aircraft fault protection method, equipment and computer-readable storage medium Technical field

The present invention relates to the technical field of unmanned aircraft, and in particular to an aircraft fault protection method, equipment and computer-readable storage medium.

Background technique

In the existing technology, with the rapid development of public air transportation, taking an airplane to achieve fast and comfortable travel has become an extremely common mode of transportation in people's daily life. Compared with traditional manned aircraft, unmanned aircraft aim to achieve safe, environmentally friendly, and intelligent low-altitude short-distance manned transportation.

At present, when manned transportation is realized through unmanned aircraft, basic operation protection functions are generally configured for the flight control and process management of the unmanned aircraft by the flight control system. However, limited by the design integrity of the above-mentioned operational protection functions, how to ensure that unmanned aircraft continue to fly and land safely in the face of fault scenarios such as command anomalies, control anomalies, and status anomalies in the data link is an urgent problem that needs to be solved. technical problem.

technical problem

In view of this, the present invention proposes an aircraft fault protection method, equipment and computer-readable storage medium to solve the problem of failure scenarios such as command anomalies, control anomalies and status anomalies in the data link, which cannot guarantee the unmanned aircraft. Technical issues to continue safe flight and landing.

Technical solutions

The technical solutions adopted by the present invention to solve the above technical problems are as follows:

The invention proposes a fault protection method for an aircraft, which method includes:

When the preset trigger condition is met, generate an alarm prompt corresponding to the trigger condition;

When the alarm prompt is not at the preset alarm level, send the alarm prompt to the ground station connected to the aircraft;

When the alarm prompt is at the alarm level and there is an automatic processing mechanism corresponding to the alarm prompt, the aircraft is controlled to execute the automatic processing mechanism corresponding to the alarm prompt according to the priority of the alarm prompt. .

The invention also proposes a fault protection device for an aircraft, which device includes a memory, a processor and a computer program stored on the memory and executable on the processor. The computer program is executed by the processor. When implementing the steps of the aircraft fault protection method as described in any of the above items.

The present invention also proposes a computer-readable storage medium. The computer-readable storage medium stores a fault protection program of the aircraft. When the fault protection program of the aircraft is executed by the processor, the fault of the aircraft as described in any of the above items is realized. Steps of conservation methods.

beneficial effects

Implement the aircraft fault protection method, equipment and computer-readable storage medium of the present invention by generating an alarm prompt corresponding to the trigger condition when the preset trigger condition is met; when the alarm prompt is not in the preset When the alarm level is at the alarm level, the alarm prompt is sent to the ground station connected to the aircraft; when the alarm prompt is at the alarm level and there is an automatic processing mechanism corresponding to the alarm prompt, the alarm prompt is sent according to the priority of the alarm prompt. The first stage controls the aircraft to execute the automatic processing mechanism corresponding to the alarm prompt. The present invention implements a more efficient and complete fault protection scheme, improves the aircraft's ability to handle fault scenarios such as command anomalies, control anomalies, and status anomalies in the data link, and ensures flight safety.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and examples. In the accompanying drawings:

Figure 1 is a flow chart of the first embodiment of the aircraft fault protection method of the present invention.

Figure 2 is a flow chart of the second embodiment of the aircraft fault protection method of the present invention.

Figure 3 is a flow chart of the third embodiment of the aircraft fault protection method of the present invention.

Figure 4 is a flow chart of the fourth embodiment of the aircraft fault protection method of the present invention.

Figure 5 is a flow chart of the fifth embodiment of the aircraft fault protection method of the present invention.

Figure 6 is a flow chart of the sixth embodiment of the aircraft fault protection method of the present invention.

Figure 7 is a flow chart of the seventh embodiment of the aircraft fault protection method of the present invention.

Figure 8 is a flow chart of the eighth embodiment of the aircraft fault protection method of the present invention.

Embodiments of the invention

It should be understood that the specific embodiments described here are only used to explain the present invention and are not intended to limit the present invention.

In the following description, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning in themselves. Therefore, "module", "component" or "unit" may be used interchangeably.

Embodiment 1

Figure 1 is a flow chart of the first embodiment of the aircraft fault protection method of the present invention. This embodiment proposes an aircraft fault protection method, which includes:

S1. When the preset trigger condition is met, generate an alarm prompt corresponding to the trigger condition.

S2. When the alarm prompt is not at the preset alarm level, send the alarm prompt to the ground station connected to the aircraft.

S3. When the alarm prompt is at the alarm level and there is an automatic processing mechanism corresponding to the alarm prompt, control the aircraft to execute the automatic processing mechanism corresponding to the alarm prompt according to the priority of the alarm prompt. processing mechanism.

In this embodiment, a Fail-Safe fault protection mechanism is proposed. The fault protection mechanism is that, first, when one or more preset trigger conditions are met, the aircraft generates one or more alarm prompts corresponding to the above one or more trigger conditions; then, the aircraft sends One or more generated alarm prompts are sent to the ground station that is connected to the aircraft. Among them, more serious alarm prompts are marked according to multiple preset alarm levels, while other alarm prompts are not marked by alarm levels and only need to be sent to the ground station for alarm reminder.

In this embodiment, among the multiple preset alarm levels, corresponding automatic processing mechanisms are set for some alarm prompts with higher alarm levels. When this part of the alarm prompt with a higher alarm level is generated, on the one hand, the corresponding alarm reminder is sent to the ground station; on the other hand, the flight controller of the aircraft executes the corresponding automatic processing mechanism mentioned above, thereby achieving fault protection more efficiently .

The beneficial effect of this embodiment is that when the preset trigger condition is met, an alarm prompt corresponding to the trigger condition is generated; when the alarm prompt is not at the preset alarm level, the alarm prompt is sent to the ground station connected to the aircraft; when the alarm prompt is at the alarm level and there is an automatic processing mechanism corresponding to the alarm prompt, control the aircraft to execute the alarm according to the priority of the alarm prompt Prompt the corresponding automatic processing mechanism. This embodiment implements a more efficient and complete fault protection scheme, improves the aircraft's ability to handle fault scenarios such as command anomalies, control anomalies, and status anomalies in the data link, and ensures flight safety.

Embodiment 2

Figure 2 is a flow chart of a second embodiment of the aircraft fault protection method of the present invention. Based on the above embodiment, the method further includes:

S41. If the alarm indicates a navigation error, dangerous power loss, or low battery, please lower it as the first alarm level.

S42. Set the first priority landing processing mechanism, the second priority return processing mechanism, and the third priority return processing mechanism to the navigation error, the dangerous power loss, and the low battery please land respectively. Corresponding automatic processing mechanism.

Please refer to Table 1, which shows a summary of fault protection alarms.

Table 1

In this table, the alarm levels are divided into L1, L2, and L3. The alarm levels L1, L2, and L3 respectively correspond to the first alarm level, the second alarm level, and the third alarm level in this embodiment and the following embodiments.

In this embodiment, alarms indicating navigation errors, dangerous power loss, and low battery please land are used as the first alarm level; the first priority landing processing mechanism, the second priority return processing mechanism, and the third priority The return-to-home processing mechanism of the first level is respectively set as an automatic processing mechanism corresponding to the navigation error, the dangerous power loss, and the low battery please land.

In this embodiment, the determination method when the alarm prompt is a navigation error is to determine whether the square of the ratio of the speed state quantity, the data of the magnetic compass state quantity and the standard deviation of the corresponding state is less than a preset threshold. If it is greater than the threshold, it is determined that one or more of the following faults have occurred: First, the navigation EKF (Extended Kalman Filter, Extended Kalman Filter) has a serious deviation in the attitude estimate of the aircraft; second, there is a serious deviation in the ground speed estimation of the navigation EKF; third Yes, the magnetic compass sensor has serious measurement errors, which affects the navigation attitude, ground speed, and position estimation; fourth, the GNSS (Global Navigation Satellite System, Global Navigation Satellite System) speed measurement values have serious deviations, affecting the Estimation of aircraft ground speed and spatial position.

In this embodiment, the way to determine when the alarm prompts a dangerous power loss is to determine whether there is a fault in the motor in the unlocked state, thereby determining whether to trigger the corresponding failsafe fault protection. Among them, when any one of the following two items is satisfied, it is determined that the motor has failed: first, if the time since the current system last received the ESC speed message is greater than 320ms; second, if the motor output command reaches 95% of the maximum value % or above, but the motor speed displayed through the message is less than 300rpm. In this embodiment, in the eight-rotor aircraft, more than two motors fail, or two non-diagonal upper and lower motors fail, that is, when the motor numbers i and j of any two motors satisfy i+j≠17 , generate an alarm prompt for the above-mentioned dangerous power loss.

In this embodiment, the way to determine when the alarm prompt is low battery, please land is to perform a preset number of times (for example, 1 time) at a preset period (for example, per second) when the location status is valid and the system is unlocked. ) intelligent power detection. Use this intelligent power detection to estimate the flight time that the current aircraft power can sustain. , as well as the estimated return time threshold t _rtl,th and the forced landing time threshold t _land,th , where the return time is the smaller of the time it takes to return to the preset starting point from the current position and the time it takes to return to the nearest alternate landing point. In this embodiment, the flight time that can be maintained is determined Whether it is less than the return time threshold t _rtl,th and the forced landing time threshold t _land,th , if within a continuous preset period (for example, the preset period is 1s, the continuous preset period is 2s), determine the flight that can be sustained above time If the battery is less than the return time threshold t _rtl,th and the forced landing time threshold t _land,th , a low battery please land warning will be generated.

In this embodiment, please refer to Table 2, which shows the detection and determination logic when the battery is low.

Table 2

In this embodiment, as described in Table 2: Scenario 1, the flight time that can be maintained above When it is greater than the return time threshold t _rtl,th and the forced landing time threshold t _land,th , cancel the generated warning prompt of low battery please land, or cancel the warning prompt of low battery please return; Scenario 2, the flight can be maintained as described above time When it is less than the return time threshold t _rtl,th and greater than the forced landing time threshold t _land,th , a warning prompt that the battery is low and please return is generated; scenario three, the flight time can be maintained as long as the above When it is less than the return time threshold t _rtl,th and the forced landing time threshold t _land,th , a warning prompt that the battery is low and please land is generated; Scenario 4, within the above-mentioned flight time that can be maintained When it is greater than the return time threshold t _rtl,th and less than the forced landing time threshold t _land,th , an alarm prompt indicating that the battery is low and please land is generated. It can be seen that in the above scenarios three and four, an alarm prompt indicating that the battery is low and please land is generated.

The beneficial effect of this embodiment is that by setting the alarm prompts for navigation errors, dangerous power loss and low battery please land as the first alarm level; combining the first priority landing processing mechanism, the second priority return processing mechanism and The third priority return processing mechanism is respectively set to be an automatic processing mechanism corresponding to the navigation error, the dangerous power loss, and the low battery request to land. This embodiment classifies the most serious alarm prompts into the first alarm level, and based on such alarm prompts, provides accurate detection and judgment conditions for aircraft fault protection.

Embodiment 3

Figure 3 is a flow chart of a third embodiment of the aircraft fault protection method of the present invention. Based on the above embodiment, the method further includes:

S43. Serious bus errors, serious battery management system alarms, general power loss, low battery please return, ground station signal loss, and main flight control switching as the second alarm level.

S44. Add the fourth priority return processing mechanism, the fifth priority return processing mechanism, the sixth priority return processing mechanism, the seventh priority return processing mechanism, and the eighth priority return processing mechanism. The mechanisms are respectively set to the automatic processing mechanisms corresponding to the serious bus error, the serious alarm of the battery management system, the general power loss, the low battery please return, and the ground station signal loss, and multiple flight control backups The mechanism serves as an automatic processing mechanism for the main flight control switch.

In this embodiment, the way to determine when the alarm prompt is a serious bus error is to obtain the sending error count and receiving error count when the CAN bus is in error through the preset sending failure counter TC and receiving failure counter RC, where, Each time the data transmission fails, the corresponding counter value is incremented by 1, and each time the data transmission is successful, the corresponding counter value is decremented by 1. At the same time, a register LC is preset, through which the error type code of the last CAN bus error occurred is recorded. The value range of the error type code is 0~8, and the value in 0~8 represents the CAN protocol standard. The meaning of CAN bus errors. Based on the above settings, the conditions for triggering a serious CAN alarm are: "TC<127" and "RC<127" and "LC=0" on any CAN bus for more than 0.5 seconds, or "TC> on any CAN bus =127" or "RC>=127" or "LC>0".

In this embodiment, the determination method when the alarm prompt is a serious alarm of the battery management system is: if the battery management system does not generate any fault information, a serious alarm of the battery management system will not be generated; if the fault information provided by the battery management system is a warning, If the severity level is set, the above-mentioned serious alarm of the battery management system is triggered, and the event processing logic corresponding to the above-mentioned serious alarm of the battery management system is entered.

In this embodiment, the determination method when the alarm prompt is a general power loss is to determine whether there is a fault in the motor in the unlocked state, thereby determining whether to trigger the corresponding failsafe fault protection. Among them, when any one of the following two items is satisfied, it is determined that the motor has failed: first, if the time since the current system last received the ESC speed message is greater than 320ms; second, if the motor output command reaches 95% of the maximum value % or above, but the motor speed displayed through the message is less than 300rpm. In this embodiment, in the eight-rotor aircraft, if one motor fails, or the upper and lower motors on the diagonal line of the two motors fail, that is, when the motor numbers i and j of any two motors satisfy i+j=17, Generate warning prompts for the above general lack of power.

In this embodiment, the way to determine when the alarm prompts that the battery is low and please return is as shown in Table 2 of the above embodiment. For scenario two, the flight time that can be maintained is When it is less than the return time threshold t _rtl,th and greater than the forced landing time threshold t _land,th , the above-mentioned low battery please return warning is generated.

In this embodiment, the way to determine when the alarm prompt is that the ground station signal is lost is that after the ground station obtains control of the aircraft, the ground station sends heartbeat data to the aircraft at a preset frequency. When the aircraft does not receive heartbeat data or mode switching instructions from the ground station within a preset period of time (for example, 5 seconds), an alarm prompt is generated that the ground station signal is lost.

In this embodiment, the way to determine when the alarm prompts the master flight control to switch is to configure the first flight control calculation unit, the second flight control calculation unit and the third flight control calculation unit in the flight control system. The control system selects one flight control calculation unit among the first flight control calculation unit, the second flight control calculation unit and the third flight control calculation unit as the current main flight control calculation unit according to the preset switching conditions, and the control system selects one flight control calculation unit as the current main flight control calculation unit. The main flight control computing unit performs aircraft flight attitude and position control tasks, flight mode management and other functions. Among them, when the main flight control is switched, if the switched main flight control calculation unit does not match the switching command of the flight control system, an alarm prompt that the above-mentioned main flight control is switched is generated.

The beneficial effect of this embodiment is that by taking serious bus errors, serious alarms of the battery management system, general power loss, low battery please return, ground station signal loss, and main flight control switching as the second alarm level; the fourth priority The return processing mechanism of the fifth priority, the return processing mechanism of the sixth priority, the return processing mechanism of the seventh priority and the return processing mechanism of the eighth priority are respectively set to the above Automatic processing mechanisms corresponding to serious bus errors, serious alarms of the battery management system, general power loss, low battery please return, and ground station signal loss, and use multi-flight control backup mechanisms as the main flight Automatic processing mechanism to control switching. This embodiment classifies more serious alarm prompts into the second alarm level, and based on such alarm prompts, provides accurate detection and judgment conditions for aircraft fault protection.

Embodiment 4

Figure 4 is a flow chart of the fourth embodiment of the aircraft fault protection method of the present invention. Based on the above embodiment, the method further includes:

S45. Set the battery management system general alarm, bus error general alarm, contact with electronic fence and radar error as the third alarm level.

S46. Use the suspension or hover processing mechanism as the automatic processing mechanism for contacting the electronic fence.

In this embodiment, the way to determine whether the alarm prompt is a general alarm of the battery management system is: if the fault information provided by the battery management system belongs to the preset general level, a general alarm of the battery management system is generated. At this time, only the ground station is informed. Sending alarm prompts for general alarms of the battery management system, there is no need to execute the corresponding event handling logic.

In this embodiment, the way to determine whether the alarm prompt is a general alarm of bus error is to obtain the sending error count and receiving error count when the CAN bus is in error through the preset sending failure counter TC and receiving failure counter RC, where, Each time the data transmission fails, the corresponding counter value is incremented by 1, and each time the data transmission is successful, the corresponding counter value is decremented by 1. At the same time, a register LC is preset, through which the error type code of the last CAN bus error occurred is recorded. The value range of the error type code is 0~8, and the value in 0~8 represents the CAN protocol standard. The meaning of CAN bus errors. Based on the above settings, the conditions for triggering a general CAN bus alarm are: "TC<127" and "RC<127" and "LC=0" of any CAN bus last for less than 0.5 seconds. At this time, the above bus error is generated Alarm prompts for general alarms.

In this embodiment, the way to determine whether the alarm prompt is contact with the electronic fence is that when the aircraft is in the electronic fence no-fly zone or buffer zone, or when the aircraft guidance target is in the electronic fence no-fly zone or buffer zone, the above-mentioned contact electronic fence is generated. Fence warning.

In this embodiment, the way to determine whether the alarm prompt is a radar error is to generate a radar error warning prompt when the flight control system fails to obtain the downward-looking radar data of the aircraft.

The beneficial effect of this embodiment is to use the battery management system general alarm, bus error general alarm, contact electronic fence and radar error as the third alarm level; use the suspension or hover processing mechanism as the automatic processing mechanism of the contact electronic fence . This embodiment classifies general level alarm prompts into the third alarm level, and based on such alarm prompts, provides accurate detection and judgment conditions for aircraft fault protection.

Embodiment 5

Figure 5 is a flow chart of the fifth embodiment of the aircraft fault protection method of the present invention. Based on the above embodiment, the method further includes:

S51. When executing the landing processing mechanism, control the aircraft to enter a preset landing mode and control the aircraft to descend at a preset descent speed.

S52. When the alarm prompt of the navigation error is not generated, maintain the current horizontal position target, or respond to the external speed horizontal micro-control instruction to adjust the current horizontal position. When the alarm prompt of the navigation error is generated, Maintain current attitude target level.

In this embodiment, the flight control system of the aircraft enters the landing mode and controls the aircraft to perform the descent procedure at a preset descent speed. When the aircraft's system navigation is in normal working condition, the aircraft's current horizontal position target remains unchanged, or it responds to external speed-type horizontal microcontrol instructions to adjust the aircraft's current horizontal position; while the aircraft's system navigation cannot provide the aircraft's current horizontal position. When the position information is in state, control the current attitude target level of the aircraft.

The beneficial effect of this embodiment is that when the landing processing mechanism is executed, the aircraft is controlled to enter a preset landing mode and the aircraft is controlled to descend at a preset descent speed; when the navigation error is not generated, When an alarm prompt is issued, the current horizontal position target is maintained, or the current horizontal position is adjusted in response to an external speed horizontal microcontrol instruction. When an alarm prompt for the navigation error is generated, the current attitude target level is maintained. This embodiment provides a complete control logic for the automatically executed landing processing mechanism, so that when a corresponding alarm prompt appears on the aircraft, an automated solution is provided for aircraft fault protection.

Embodiment 6

Figure 6 is a flow chart of the sixth embodiment of the aircraft fault protection method of the present invention. Based on the above embodiment, the method further includes:

S53. When executing the return processing mechanism, if the aircraft is in the preset automatic route mode, calculate and compare the time taken to continue the route and the time taken to return.

S54. When the time consuming for continuing the route is shorter than the time consuming for returning, maintain the automatic route mode. When the time consuming for continuing the route is longer than the time consuming for returning, switch the automatic route mode to the preset return time. mode and perform the return-to-home action.

In this embodiment, when the flight control system of the aircraft is in the automatic route mode, the time consuming for continuing the route and the time consuming for returning are calculated and compared. If the above-mentioned continuation route takes less time than the above-mentioned return-to-home time, the current flight mode of the aircraft will not be changed; if the above-mentioned continuation route takes longer than the above-mentioned return-to-home time, the current flight mode of the aircraft will be switched to the return-to-home mode, and the corresponding execution will be performed automatically. return operation.

The beneficial effect of this embodiment is that when the return processing mechanism is executed, if the aircraft is in the preset automatic route mode, the time taken to continue the route and the time taken to return are calculated and compared; When the time is shorter than the return time, the automatic route mode is maintained. When the continued route is longer than the return time, the automatic route mode is switched to the preset return mode and the return action is performed. This embodiment provides a complete control logic for the automatically executed return-to-home processing mechanism, so that when a corresponding alarm prompt appears on the aircraft, an automated solution is provided for aircraft fault protection.

Embodiment 7

Figure 7 is a flow chart of the seventh embodiment of the aircraft fault protection method of the present invention. Based on the above embodiment, the method further includes:

S61. Divide the alarm prompts sent to the ground station into power saturation warning, output difference warning and vibration warning.

S62. Determine the warning status information or warning level information of the power saturation warning, the output difference warning, and the vibration warning, so that the ground station indicates the warning status information or the warning through display signals of different colors. Level information.

In this embodiment, please refer to Table 3, which shows the warning information and ground station display colors corresponding to the power saturation warning, output difference warning, and vibration warning. Among them, this embodiment monitors the status of power saturation warning, output difference warning and vibration warning in a hierarchical manner, and transmits the corresponding data to the ground station to remind observers at the ground station to pay attention to the corresponding alarm prompts, and on the ground The station performs post-flight data analysis through the above data.

table 3

In this embodiment, as described in the above table, when the power saturation warning, output difference warning and vibration warning are not generated, the corresponding display signal of the ground station is green; when the power saturation warning, output difference warning and vibration warning are generated, it is 1 When the level is 2, the corresponding display signal of the ground station is red; when the generated power saturation warning, output difference warning and vibration warning are level 2, the corresponding display signal of the ground station is yellow; when the generated power saturation warning, output difference warning and When the vibration warning is level 3, the corresponding display signal on the ground station is blue.

In this embodiment, the flight control system of the aircraft monitors the target speed control signals output to each ESC in real time, and checks the percentage of each signal to the maximum target speed. Among them, when there is at least one output signal with a percentage greater than 90% and less than 96% or greater than 0% and less than 4%, a power saturation level 3 alarm is generated; when there is at least one output signal with a percentage greater than 96% or less than 4 % and the duration is less than 2 seconds, a power saturation level 2 alarm is generated; when at least one output signal percentage is greater than 96% or less than 4% and the duration is greater than 2 seconds, a power saturation level 1 alarm is generated. .

In this embodiment, the flight control system monitors the target speed control signal output to each ESC in real time, and makes a judgment based on the percentage of the difference between its maximum output and minimum output and the maximum target speed. When the difference percentage is greater than 31% and less than 44%, an output difference level 3 alarm is generated; when the difference is greater than 44% and the duration is less than 2 seconds, an output difference level 2 alarm is generated; when the difference is greater than 44% and the duration is greater than 2 seconds, an alarm prompt with an output difference of 1 level is generated.

In this embodiment, the flight control system monitors and determines the Z-axis accelerometer observation value of the aircraft. When the amplitude is greater than 0.5 G and less than 1 G, a vibration warning level 3 alarm is generated; when the amplitude is greater than 1 G and the duration does not exceed 1 second, a vibration warning level 2 alarm is generated; when the amplitude is greater than 1 G and the duration exceeds 1 second, a vibration warning level 1 alarm is generated.

The beneficial effect of this embodiment is that by dividing the alarm prompts sent to the ground station into power saturation early warning, output difference early warning and vibration early warning; determining the power saturation early warning, the output difference early warning and the vibration early warning. Early warning status information or early warning level information, so that the ground station indicates the early warning status information or the early warning level information through display signals of different colors. This embodiment sends relatively mild alarm prompts to the ground station, and based on such alarm prompts, provides a subsequent data analysis basis for aircraft fault protection.

Embodiment 8

Figure 8 is a flow chart of the eighth embodiment of the aircraft fault protection method of the present invention. Based on the above embodiment, the method further includes:

S71. Preset the release condition corresponding to the trigger condition.

S72. When the trigger condition is satisfied, generate and maintain an alarm prompt corresponding to the trigger condition. When the release condition is satisfied, cancel the alarm prompt corresponding to the trigger condition.

In this embodiment, for the warning prompt of navigation error, a determination method is proposed to determine whether the square of the ratio of the speed state quantity, the data of the magnetic compass state quantity and the standard deviation of the corresponding state is less than a preset threshold. Among them, the flight control system performs a judgment on whether it is greater than the above-mentioned preset threshold at a preset frequency (for example, 10Hz). If it is judged to be greater than or equal to 10 times within a continuous period of 1 second, an alarm prompt for a navigation error will be generated. . In this embodiment, the fault elimination method for the alarm prompt of the navigation error is to eliminate the generated alarm prompt of the navigation error if the 10 judgments are not greater than the above-mentioned preset threshold within 1 consecutive second.

In this embodiment, the proposed method for relieving the alarm prompts of serious bus errors and general bus error alarms is to monitor the status of the CAN bus at the flight control system end, and further, for each electronic adjustment Monitor the status data returned by the speed controller and monitor the packet loss of its CAN bus messages. Among them, when TC=0, RC=0, and LC=0 on all CAN buses, that is, when the motor speed control CAN bus message received by the electronic speed regulator does not lose packets, the alarm prompt of the above serious bus error is cleared. Alarm prompts for general alarms and bus errors. Optionally, in this embodiment, the monitoring frequency for packet loss in the CAN bus message is 10 Hz.

The beneficial effect of this embodiment is that by presetting the release condition corresponding to the trigger condition; when the trigger condition is satisfied, an alarm prompt corresponding to the trigger condition is generated and maintained; when the release condition is satisfied , cancel the alarm prompt corresponding to the trigger condition. This embodiment provides a complete control logic for the generation and cancellation of alarm prompts, so that the aircraft's alarm prompts can be eliminated in a timely manner when corresponding conditions are met, thereby avoiding repeated processing or mishandling of alarm prompts.

Embodiment 9

Based on the above embodiments, the present invention also proposes an aircraft fault protection device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The computer program is When executed by the processor, the steps of implementing the aircraft fault protection method as described in any one of the above items are implemented.

It should be noted that the above device embodiments and method embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments for details, and the technical features in the method embodiments are applicable to the device embodiments and will not be described again here.

Embodiment 10

Based on the above embodiments, the present invention also proposes a computer-readable storage medium. The computer-readable storage medium stores a fault protection program of the aircraft. When the fault protection program of the aircraft is executed by the processor, it implements any of the above. The steps of the aircraft fault protection method described above.

It should be noted that the above-mentioned medium embodiment and method embodiment belong to the same concept, and the specific implementation process can be found in the method embodiment for details, and the technical features in the method embodiment are correspondingly applicable to the medium embodiment, and will not be described again here.

It should be noted that, in this document, the terms "comprising", "comprises" or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article or device that includes a series of elements not only includes those elements, It also includes other elements not expressly listed or inherent in the process, method, article or apparatus. Without further limitation, an element defined by the statement "comprises a..." does not exclude the presence of additional identical elements in a process, method, article or apparatus that includes that element.

The above serial numbers of the embodiments of the present invention are only for description and do not represent the advantages and disadvantages of the embodiments.

The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the above-mentioned specific implementations. The above-mentioned specific implementations are only illustrative and not restrictive. Those of ordinary skill in the art will Under the inspiration of the present invention, many forms can be made without departing from the spirit of the present invention and the scope protected by the claims, and these all fall within the protection of the present invention.

Industrial applicability

The aircraft fault protection method, equipment and computer-readable storage medium according to the embodiment of the present invention generate an alarm prompt corresponding to the trigger condition when the preset trigger condition is met; when the alarm prompt is not in the preset state, When the alarm level is at the alarm level, the alarm prompt is sent to the ground station connected to the aircraft; when the alarm prompt is at the alarm level and there is an automatic processing mechanism corresponding to the alarm prompt, the alarm prompt is sent according to the alarm prompt. The priority controls the aircraft to execute the automatic processing mechanism corresponding to the alarm prompt. The present invention implements a more efficient and complete fault protection scheme, improves the aircraft's ability to handle fault scenarios such as command anomalies, control anomalies, and status anomalies in the data link, and ensures flight safety. Therefore, it has industrial practicality.

Claims (10)

A fault protection method for an aircraft, the method includes: When the preset trigger condition is met, generate an alarm prompt corresponding to the trigger condition; When the alarm prompt is not at the preset alarm level, send the alarm prompt to the ground station connected to the aircraft; When the alarm prompt is at the alarm level and there is an automatic processing mechanism corresponding to the alarm prompt, the aircraft is controlled to execute the automatic processing mechanism corresponding to the alarm prompt according to the priority of the alarm prompt. . The aircraft fault protection method according to claim 1, wherein the method further includes: If the alarm indicates navigation error, dangerous power loss or low battery, please lower it as the first alarm level; The first-priority landing processing mechanism, the second-priority return-to-home processing mechanism, and the third-priority return-to-home processing mechanism are respectively set to corresponding to the navigation error, the dangerous power loss, and the low battery please land. Automatic processing mechanism. The aircraft fault protection method according to claim 1, wherein the method further includes: Serious bus errors, serious alarms in the battery management system, general power loss, low battery please return, ground station signal loss, and main flight control switching occur as the second alarm level; The fourth priority return processing mechanism, the fifth priority return processing mechanism, the sixth priority return processing mechanism, the seventh priority return processing mechanism and the eighth priority return processing mechanism are respectively Set as an automatic processing mechanism corresponding to the serious bus error, the serious alarm of the battery management system, the general power loss, the low battery please return, and the ground station signal loss, and use the multi-flight control backup mechanism as The automatic processing mechanism for switching of the main flight control. The aircraft fault protection method according to claim 1, wherein the method further includes: Set the battery management system general alarm, bus error general alarm, contact with electronic fence and radar error as the third alarm level; Use a pause or hover handling mechanism as an automatic handling mechanism for contacting the electronic fence. The aircraft fault protection method according to claim 2, wherein the method further includes: When executing the landing processing mechanism, control the aircraft to enter a preset landing mode and control the aircraft to descend at a preset descent speed; When an alarm prompt for the navigation error is not generated, the current horizontal position target is maintained, or the current horizontal position is adjusted in response to an external speed horizontal microcontrol instruction. When an alarm prompt for the navigation error is generated, the current horizontal position target is maintained. attitude target level. The aircraft fault protection method according to any one of claims 2 or 3, wherein the method further includes: When executing the return processing mechanism, if the aircraft is in the preset automatic route mode, calculate and compare the time taken to continue the route and the time taken to return; When the time consuming for continuing the route is shorter than the time consuming for returning, the automatic route mode is maintained; when the time consuming for continuing the route is longer than the time consuming for returning, the automatic route mode is switched to the preset return mode, and perform return action. The aircraft fault protection method according to claim 1, wherein the method further includes: The alarm prompts sent to the ground station are divided into power saturation warning, output difference warning and vibration warning; Determine the warning status information or warning level information of the power saturation warning, the output difference warning and the vibration warning, so that the ground station indicates the warning status information or the warning level information through display signals of different colors. . The aircraft fault protection method according to any one of claims 1-7, wherein the method further includes: Preset the release condition corresponding to the trigger condition; When the trigger condition is satisfied, an alarm prompt corresponding to the trigger condition is generated and maintained; when the release condition is satisfied, the alarm prompt corresponding to the trigger condition is released. A fault protection device for an aircraft, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements claims 1 to 1 The steps of the aircraft fault protection method described in any one of 8. A computer-readable storage medium on which a fault protection program of an aircraft is stored. When the fault protection program of the aircraft is executed by a processor, the fault protection method of the aircraft according to any one of claims 1 to 8 is implemented. step.