CN-122015758-A - Multi-signal source attitude signal comparison monitoring method

Abstract

The application provides a method for comparing and monitoring attitude signals of multiple signal sources, which comprises the steps of 1, sequencing the attitude signals, 2, comparing the sequenced attitude signals in pairs to obtain a plurality of difference values, 3, determining a threshold based on a rate signal corresponding to the attitude signals, and 4, judging whether the attitude signals are faulty or not based on the difference values and the threshold.

Inventors

• Peng Ruixue
• QIN WEILI
• WU XIAO
• LI DAO

Assignees

• 中国航空工业集团公司成都飞机设计研究所

Dates

Publication Date

20260512

Application Date

20251227

Claims (8)

1. 1. A method for comparing and monitoring attitude signals of multiple signal sources, the method comprising: step 1, sequencing attitude signals, wherein the attitude signals are effective attitude signals of multiple signal sources; step 2, comparing the sequenced attitude signals in pairs to obtain a plurality of difference values; Step 3, determining a threshold based on a rate signal corresponding to the gesture signal; And step 4, judging whether the attitude signal is faulty or not based on the difference value and the threshold.
2. 2. The method according to claim 1, wherein the step 3 comprises: If the speed signal corresponding to the gesture signal is available and the absolute value of the voting value is smaller than the A value, determining that the threshold is a fixed value; And if the velocity signal corresponding to the attitude signal is available and the absolute value of the voting value is larger than the B value, determining the threshold as a dynamic threshold.
3. 3. The method according to claim 2, wherein the step3 further comprises: and if the speed signal corresponding to the gesture signal is not available, determining that the threshold is a fixed value.
4. 4. The method of claim 3, wherein the dynamic threshold is a fixed value +C x|rate signal vote value|, and wherein the coefficient C is determined based on a delay size.
5. 5. The method of claim 2, wherein the a value is different from the B value.
6. 6. The method of claim 5, wherein the a value is 35 °/s for roll angle monitoring.
7. 7. The method of claim 5, wherein the B value is 40 °/s for roll angle monitoring.
8. 8. The method according to claim 1, wherein the step 4 comprises: And if the difference value is larger than the threshold, the gesture signal is in fault.

Description

Multi-signal source attitude signal comparison monitoring method Technical Field The application belongs to the technical field of signal processing, and particularly relates to a method for comparing and monitoring attitude signals of multiple signal sources. Background In the aviation field, a redundancy management technology is generally adopted by a flight control system for redundancy signals to improve the reliability of the system, the redundancy management technology mainly eliminates faults occurring in the operation process of the redundancy system and uses effective redundancy signals, wherein comparison monitoring is an essential part of redundancy management, and signal correctness detection and fault signal positioning can be completed, so that the reliability and completeness of the system are greatly improved. To meet future demands, aircraft are beginning to shift from manned to unmanned, and to meet demands for system reliability, corresponding attitude signal redundancy configurations are changed. The original manned mode, the gesture signal is only a single redundancy signal, and is transmitted to the flight control computer through a 1553B bus by inertial navigation. For an unmanned mode, single-redundancy attitude signals do not meet the requirement of system reliability, the attitude signals sent by three navigation attitudes are added on the basis of the original people, and the attitude signals are transmitted to a flight control computer through an RS422 serial port, so that four-redundancy attitude signals from different signal sources are formed. If the original standard four-redundancy signal voting monitoring algorithm is adopted, all redundancy signals are firstly required to be sequenced, whether adjacent signals exceed a fixed fault detection threshold (fixed value) or not is compared in pairs to obtain corresponding signal states, and fault signals are positioned through the signal states. The method has the problems that as the transmission modes of different signal sources are different, the signal transmission and acquisition time of the different transmission modes is different, if a fixed value is adopted as a fault monitoring threshold, when the aircraft makes a large maneuver, the gesture change is larger, the fault monitoring threshold is more easily exceeded, so that false alarm is eliminated, the usability of the signal is affected, and the load of a pilot is increased. Disclosure of Invention The invention aims to solve the technical problems, improve the usability of signals, ensure the reliability and the safety of the signals, and reduce the burden of pilots at the same time, and provides a method for comparing and monitoring the attitude signals of multiple signal sources. The application provides a method for comparing and monitoring attitude signals of multiple signal sources, which comprises the following steps: step 1, sequencing attitude signals, wherein the attitude signals are effective attitude signals of multiple signal sources; step 2, comparing the sequenced attitude signals in pairs to obtain a plurality of difference values; Step 3, determining a threshold based on a rate signal corresponding to the gesture signal; And step 4, judging whether the attitude signal is faulty or not based on the difference value and the threshold. Preferably, the step 3 includes: If the speed signal corresponding to the gesture signal is available and the absolute value of the voting value is smaller than the A value, determining that the threshold is a fixed value; And if the velocity signal corresponding to the attitude signal is available and the absolute value of the voting value is larger than the B value, determining the threshold as a dynamic threshold. Preferably, the step 3 further includes: and if the speed signal corresponding to the gesture signal is not available, determining that the threshold is a fixed value. Preferably, the dynamic threshold is a fixed value +C|rate signal vote value|, wherein the coefficient C is determined according to the delay size. Preferably, the a value is different from the B value. Preferably, for roll angle monitoring, the A value is 35/s. Preferably, for roll angle monitoring, the B value is 40 °/s. Preferably, the step 4 includes: And if the difference value is larger than the threshold, the gesture signal is in fault. The invention has the beneficial effects that: the application provides a double-threshold fault threshold design, wherein a fixed value is adopted as a monitoring threshold in small maneuvering and a movable threshold is adopted as a monitoring threshold in large maneuvering, so that the problem of false alarm caused by deviation caused by inconsistent transmission time sequences of different signal sources is solved, and corresponding faults can be monitored according to different thresholds when the signals are truly problematic. The design not only ensures the correctness and usability of the monitoring