CN116931588A - High-redundancy reliable automatic flight pilot - Google Patents
High-redundancy reliable automatic flight pilot Download PDFInfo
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- CN116931588A CN116931588A CN202310565950.8A CN202310565950A CN116931588A CN 116931588 A CN116931588 A CN 116931588A CN 202310565950 A CN202310565950 A CN 202310565950A CN 116931588 A CN116931588 A CN 116931588A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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Abstract
The invention discloses an automatic flight pilot with high reliability and redundancy, which comprises a data processor, a redundancy sensor, receiving equipment, an inertial measurement unit, a power supply, an antenna, an integrated aviation plug and a circuit system, wherein the sensor transmits monitoring data to the data processor, the antenna is provided with a satellite positioning system, the receiving equipment comprises a magnetometer, a barometer and the inertial measurement unit, the magnetometer and the satellite positioning system provide course data for the data processor, the satellite positioning system provides longitude, latitude and speed data for the data processor, the barometer provides barometric altitude data for the data processor, and the inertial measurement unit provides gesture and acceleration data for the data processor. Compared with the prior art, the invention has the advantages that: the invention not only can improve the data processing capability and backup data, but also can improve dust prevention, ash prevention and electromagnetic interference resistance, and can provide more stable electric power.
Description
Technical Field
The invention relates to the technical field of flight piloting instruments, in particular to an automatic flight piloting instrument with high redundancy and reliability.
Background
The autopilot is a basic component and a core device of an automatic flight control and navigation system of an aircraft, can assist or completely replace the functions of a pilot, can autonomously control the aircraft to fly with little human intervention, is widely applied to modern aircrafts, particularly miniature aircrafts or miniature unmanned aerial vehicles, and is used as core equipment for equipment operation and is a basis for system operation and function realization. With the improvement of the demand for the reliability of the system, the way of improving the reliability of a single device to achieve the purpose of the reliability of the system is limited in effect and high in cost.
The prior art mainly has the following problems: the insufficient computing power of the processor is easy to cause overflow and dead halt of computation, and the reliability of the system is affected; the core device with safe operation is related to redundancy-free backup; the power supply system is single and has no backup; the dustproof, waterproof and electromagnetic interference resistance capability is insufficient, and hidden danger exists in long-term use; the instruction input port mostly adopts Du Bangkou, and is easy to loosen and fall off under the condition of vibration and long-time use;
disclosure of Invention
The technical problem to be solved by the invention is to overcome the technical defect, and the automatic flight pilot with high redundancy and reliability is provided, so that the data processing capability and the data backup capability can be improved, the dust prevention, the ash prevention and the electromagnetic interference resistance can be improved, and more stable electric power can be provided.
In order to solve the problems, the technical scheme of the invention is as follows: the utility model provides a high reliable autopilot of redundancy, includes data processor, redundancy sensor, receiving arrangement, inertial measurement unit, power, antenna, integrative aviation plug, circuit system, redundancy sensor transmission monitoring data to data processor, the power is the dual supply power, the power provides data processor electric energy, the antenna is dual antenna direction finding, the antenna has satellite positioning system;
preferably, the receiving device comprises a magnetometer, a barometer and an inertial measurement unit, wherein the magnetometer and the satellite positioning system provide course data for the data processor, the satellite positioning system provides longitude, latitude and speed data for the data processor, the barometer provides barometric altitude data for the data processor, the inertial measurement unit provides gesture and acceleration data for the data processor, and the course data and the gesture acceleration data need to be subjected to voting judgment processing.
Further, the inertial measurement unit comprises three accelerometers and three gyroscopes, the three accelerometers and the three gyroscopes are mounted on measurement axes which are perpendicular to each other, the inertial measurement unit with low accuracy can be corrected by other means, the satellite positioning system is used for correcting long-term drift of position, the barometer is used for correcting altitude, and the magnetometer is used for correcting attitude.
Further, the circuit system comprises an accelerometer and gyroscope circuit, a magnetic compass circuit, an air pressure altimeter circuit, an SWD interface circuit, a PWM interface protection circuit, a USB ESD protection circuit, a serial interface protection circuit, a serial remote controller receiver HC interface protection circuit, a T30J interface circuit, a fixed hole circuit, a power supply combination circuit, a sensor power supply circuit and an FMU SD card power supply circuit.
Further, the process of the redundancy sensor voting output flow is as follows: and synchronizing the data, calculating an average value of the data acquired in the time segment, calculating the total distance between every two input data according to the block threshold H, and finally outputting a result according to the voting result.
Further, the voting output rules include (1) time slice partitioning: the system outputs data, and takes 20 groups as a group as a voting time segment to vote once. The output of the voting result is kept until the next voting result is output; (2) The data input to the redundancy module by each sensor is grouped and denoted as C i ，C i ＝{C i1 ,C i2 ,L,C i14 I is the sensor number, C i Containing 14 sets of output data. Within a voting time segment, the tie value of 20 sets of data is denoted as D i ＝{D i1 ,D i2 ,L,D i14 Voting space determines votes by calculating the distance between the respective package data, e.g. the data of sensor 1 and sensor 2The total distance between them isIf the distance is smaller than the judgment threshold H, each CPU is thrown with one ticket, otherwise, no ticket is thrown, the voting result is finally determined according to the number of tickets obtained by each sensor, and meanwhile, a transient fault is recorded for the sensor with the number of tickets being 0.
Further, the data processor is an STM32H743VI T6 processor.
Further, three groups of mutual backups are adopted in the gesture, an external double antenna is adopted for the antenna, double backups are adopted for the magnetometer direction measurement, double backups are adopted for the power supply, and 66-core J30J aviation plug is adopted for the aviation plug to be an external sensor input and an output of a control instruction.
Further, the sensor adopts a low dropout linear voltage regulator to convert a 5V circuit into 3V, and the FMU SD card adopts the low dropout linear voltage regulator to convert the 5V circuit into 3V.
Compared with the prior art, the invention has the advantages that:
(1) The invention adopts STM32 series latest processors, and in order to ensure the processing capacity of data, the invention adopts STM32H743VI T6 processors with the working frequency up to 400 MHz;
(2) The core measuring sensor adopts a three-redundancy design and is mutually backed up;
(3) The aerial survey data adopts external double-antenna direction finding and magnetometer direction finding double backup;
(4) The system power supply adopts a dual redundancy design, ensures stable system power supply, and is provided with a voltage stabilizing circuit, so that the influence caused by power supply voltage fluctuation is reduced;
(5) In order to improve the dustproof, waterproof and electromagnetic interference resistant capabilities of the product, the invention adopts 66-core J30J aviation plug most external sensor input and control instruction output, and improves the reliability of an output interface of the product, and meanwhile, the invention also achieves the integrated and totally-enclosed design of the product, thereby improving the dustproof, waterproof and electromagnetic interference resistant capabilities;
(6) The invention optimizes the circuit design and provides more stable power supply
Drawings
Fig. 1 is a main body PCB structure diagram of an automatic flight vehicle with high reliability in redundancy according to the present invention.
Fig. 2 is a diagram of the structure of the flight control unit of the highly reliable autopilot of the present invention.
Fig. 3 is a schematic circuit diagram of a highly reliable autopilot in accordance with the present invention.
Fig. 4 is a schematic circuit diagram of a highly reliable autopilot in accordance with the present invention.
Fig. 5 is a schematic circuit diagram of a highly reliable autopilot in accordance with the present invention.
Fig. 6 is a schematic circuit diagram of a highly reliable autopilot in accordance with the present invention.
FIG. 7 is a flow chart of the redundancy sensor voting output of a highly reliable autopilot of the present invention.
FIG. 8 is a graph of the number of votes obtained by the highly reliable autopilot in accordance with the present invention versus the voting results and fault assessment.
Detailed Description
Specific embodiments of the present invention will be further described below with reference to the accompanying drawings.
In order to make the contents of the present invention more clearly understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
Example 1
As shown in figures 1 to 8, the high-redundancy reliable automatic flight pilot comprises a data processor, a sensor, receiving equipment, an inertial measurement unit, a power supply, an antenna, an integrated aviation plug and a circuit system, wherein during operation, the sensor transmits data through the data processor received by the receiving equipment, the data processor is an STM32H743VI T6 processor, an STM32 series latest processor is adopted, the processing capacity of data is guaranteed, the working frequency of the processor is up to 400 MHz, the power supply provides electric energy for the data processor, the power supply is supplied by a dual power supply, the system power supply adopts a dual redundancy design, the system power supply is ensured to be stable, a voltage stabilizing circuit is arranged, the influence caused by power supply voltage fluctuation is reduced, the power supply adopts dual backup, the antenna adopts a dual antenna direction finding system, the antenna adopts an external dual antenna, the attitude adopts three groups of mutual backup, the antenna adopts the external dual backup, the magnetometer direction finding adopts the dual backup, the aviation plug adopts 66 core J30J aviation plug as the input of the external sensor and the output of a control instruction, the dual power supply adopts the dual power supply, the dual power supply is ensured, the system power supply is stable, the antenna is provided with the full-protection and the full-protection power supply, and the full-safety electromagnetic interference resistance is realized, and the full-safety design is realized, and the full-closed.
The receiving device comprises a magnetometer, a barometer and an inertial measurement unit, wherein the magnetometer and a satellite positioning system provide course data for a data processor, the satellite positioning system provides longitude and latitude and speed data for the data processor, the barometer provides barometric altitude data for the data processor, the inertial measurement unit provides attitude and acceleration data for the data processor, the course data and the attitude acceleration data need to be subjected to voting judgment processing, the inertial measurement unit comprises three accelerometers and three gyroscopes, the three accelerometers and the three gyroscopes are arranged on measurement shafts which are perpendicular to each other, the low-precision inertial measurement unit can be corrected in other modes, the satellite positioning system is used for correcting long-term drift of positions, the barometer is used for correcting heights, and the magnetometer is used for correcting attitudes.
Example two
The circuit system comprises an accelerometer and gyroscope circuit, a magnetic compass circuit, an air pressure altimeter circuit, an SWD interface circuit, a PWM interface protection circuit, a USB ESD protection circuit, a serial interface protection circuit, a serial remote controller receiver HC interface protection circuit, a T30J interface circuit, a fixed hole circuit, a power supply combining circuit, a sensor power supply circuit and an FMU SD card power supply circuit, wherein the sensor converts a 5V circuit into 3V by adopting a low-dropout linear voltage stabilizer, and the FMU SD card converts the 5V circuit into 3V by adopting the low-dropout linear voltage stabilizer.
The system power supply adopts a dual redundancy design, ensures the stability of the system power supply, and is provided with a voltage stabilizing circuit, so that the influence caused by power supply voltage fluctuation is reduced, and the redundancy sensor voting output flow process is as follows: and synchronizing the data, calculating an average value of the data acquired in the time segment, calculating the total distance between every two input data according to the block threshold H, and finally outputting a result according to the voting result.
The voting output rules include (1) time slice partitioning: the system outputs data, and takes 20 groups as a group as a voting time segment to vote once. The output of the voting result is kept until the next voting result is output; (2) Each sensor input to the redundancy module data formation set is denoted as a sensor number, containing 14 sets of output data. In one voting time segment, the tie value of 20 groups of data is recorded as a voting space, the voting space determines the voting by calculating the distance between the packaged data, for example, the total distance between the data of the sensor 1 and the sensor 2 is that if the distance is smaller than a judgment threshold H, one vote is respectively cast to two CPUs, otherwise, no vote is cast, the voting result is finally determined according to the vote number obtained by each sensor, and a transient fault is recorded for the sensor with the vote number of 0.
The corresponding relation between the number of votes obtained and the voting result and the fault evaluation is as follows: when the number of votes obtained by the sensor 1 is 2, the number of votes obtained by the sensor 2 is 2, and the number of votes obtained by the flight control sensor 3 is 2, the voting result is output sensor 1 data, and the fault is evaluated as no fault; when the number of votes obtained by the sensor 1 is 2, the number of votes obtained by the sensor 2 is 1, and the number of votes obtained by the flight control sensor 3 is 1, the voting result is output sensor 1 data, and the fault is evaluated as no fault; when the number of votes obtained by the sensor 1 is 1, the number of votes obtained by the sensor 2 is 2, and the number of votes obtained by the flight control sensor 3 is 1, the voting result is output sensor 2 data, and the fault is evaluated as no fault; when the number of votes obtained by the sensor 1 is 1, the number of votes obtained by the sensor 2 is 1, and the number of votes obtained by the flight control sensor 3 is 2, the voting result is output sensor 3 data, and the fault is evaluated as no fault; when the number of votes obtained by the sensor 1 is 1, the number of votes obtained by the sensor 2 is 1, and the number of votes obtained by the flight control sensor 3 is 0, the voting result is output sensor 1 data, and the fault evaluation is that the sensor 3 instantaneously breaks down; when the number of votes obtained by the sensor 1 is 1, the number of votes obtained by the sensor 2 is 0, and the number of votes obtained by the flight control sensor 3 is 1, the voting result is output sensor 1 data, and the fault evaluation is that the sensor 2 instantaneously breaks down; when the number of votes obtained by the sensor 1 is 0, the number of votes obtained by the sensor 2 is 1, and the number of votes obtained by the flight control sensor 3 is 1, the voting result is output sensor 2 data, and the fault evaluation is that the sensor 1 instantaneously breaks down; when the number of votes obtained by the sensor 1 is 0, the number of votes obtained by the sensor 2 is 0, and the number of votes obtained by the flight control sensor 3 is 0, the voting result is an output median value, and the fault evaluation is all the instant faults.
The invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.
Claims (8)
1. The utility model provides a high reliable autopilot of redundancy which characterized in that: the intelligent navigation system comprises a data processor, a sensor, receiving equipment, an inertial measurement unit, a power supply, an antenna, an integrated navigation plug and a circuit system, wherein the redundancy sensor transmits monitoring data to the data processor, the power supply supplies power to the dual power supply, the power supply supplies power to the data processor, the antenna is a dual-antenna direction finding system, and the antenna is provided with a satellite positioning system;
the receiving equipment comprises a magnetometer, a barometer and an inertial measurement unit, wherein the magnetometer and a satellite positioning system provide course data for a data processor, the satellite positioning system provides longitude, latitude and speed data for the data processor, the barometer provides barometric height data for the data processor, the inertial measurement unit provides gesture and acceleration data for the data processor, and the course data and gesture acceleration data need to be subjected to voting judgment processing.
2. The highly reliable automatic flying pilot of claim 1, wherein: the inertial measurement unit comprises three accelerometers and three gyroscopes, the three accelerometers and the three gyroscopes are arranged on measurement shafts which are perpendicular to each other, the inertial measurement unit with low precision can be corrected in other ways, the satellite positioning system is used for correcting long-term drift of the position, the barometer is used for correcting the height, and the magnetometer is used for correcting the gesture.
3. The highly reliable automatic flying pilot of claim 1, wherein: the circuit system comprises an accelerometer and gyroscope circuit, a magnetic compass circuit, an air pressure altimeter circuit, an SWD interface circuit, a PWM interface protection circuit, a USB ESD protection circuit, a serial port interface protection circuit, a serial port remote controller receiver HC interface protection circuit, a T30J interface circuit, a fixed hole circuit, a power supply combination circuit, a sensor power supply circuit and an FMU SD card power supply circuit.
4. The highly reliable automatic flying pilot of claim 1, wherein: the voting output flow process of the redundancy sensor is as follows: and synchronizing the data, calculating an average value of the data acquired in the time segment, calculating the total distance between every two input data according to the block threshold H, and finally outputting a result according to the voting result.
5. The highly reliable autopilot of claim 4 wherein: the voting output rules include (1) time slice partitioning: the system outputs data, and takes 20 groups as a group as a voting time segment to vote once. The output of the voting result is kept until the next voting result is output; (2) The data input to the redundancy module by each sensor is grouped and denoted as C i ，C i ＝{C i1 ,C i2 ,…,C i14 I is the sensor number, C i Containing 14 sets of output data. Within a voting time segment, the tie value of 20 sets of data is denoted as D i ＝{D i1 ,D i2 ,…,D i14 Voting space determines votes by calculating the distance between the respective package data, e.g. the total distance between the data of sensor 1 and sensor 2 isIf the distance is smaller than the judgment threshold H, each CPU is thrown with one ticket, otherwise, no ticket is thrown, the voting result is finally determined according to the number of tickets obtained by each sensor, and meanwhile, a transient fault is recorded for the sensor with the number of tickets being 0.
6. The highly reliable automatic flying pilot of claim 1, wherein: the data processor is an STM32H743VIT6 processor.
7. The highly reliable automatic flying pilot of claim 1, wherein: the gesture adopts three groups to be the backup each other, the antenna adopts external dual antenna, magnetometer direction finding adopts dual backup, the power adopts dual backup, 66 core J30J aviation plug adopts external sensor input and control command's output.
8. The highly reliable automatic flying pilot of claim 1, wherein: the sensor adopts a low dropout linear voltage regulator to convert a 5V circuit into 3V, and the FMU SD card adopts the low dropout linear voltage regulator to convert the 5V circuit into 3V.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310565950.8A CN116931588A (en) | 2023-05-19 | 2023-05-19 | High-redundancy reliable automatic flight pilot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310565950.8A CN116931588A (en) | 2023-05-19 | 2023-05-19 | High-redundancy reliable automatic flight pilot |
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