CN-122018391-A - Flight control system, flight control method and aircraft

CN122018391ACN 122018391 ACN122018391 ACN 122018391ACN-122018391-A

Abstract

The invention discloses a flight control system, a flight control method and an aircraft, the system comprises a flight data calculation module, an obstacle avoidance perception calculation module and a flight control module. The flight data calculation module acquires multisource sensing data, generates flight state information reflecting real-time motion states and environment adaptation parameters of the aircraft through redundancy calculation and voting, the obstacle avoidance sensing calculation module comprises two vision positioning and image construction sub-modules, generates obstacle avoidance information in an intelligent driving mode and performs interactive verification, generates a waypoint instruction after the error reaches the standard, and the flight control module is connected with each relevant module and a cabin operation system to acquire the flight state information, the waypoint instruction and/or the cabin operation instruction, outputs an actuator control signal through control law redundancy calculation and voting, and drives the actuator to control the aircraft to fly according to an obstacle avoidance path or a control path. The invention improves the reliability and safety of flight control and adapts to the requirements of complex flight scenes.

Inventors

XU MINGGUI
LIU XINYING
LI DAN
LU YAN
HUANG KE
WU QINFENG

Assignees

一汽旗翼(深圳)科技有限公司

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (10)

1. A flight control system, comprising: The flight data calculation module is used for acquiring flight multisource sensing data, carrying out redundancy calculation and voting based on the flight multisource sensing data, and generating flight state information, wherein the flight state information is used for reflecting real-time motion states and environment adaptation parameters of the aircraft; The obstacle avoidance perception calculation module comprises two visual positioning and image construction sub-modules, wherein each visual positioning and image construction sub-module is used for acquiring environment point cloud data and target point data after an aircraft enters an intelligent driving mode, generating obstacle avoidance information based on the environment point cloud data and the target point data, and the obstacle avoidance information at least comprises an obstacle map and an obstacle avoidance path; the flight control module is in communication connection with the flight data calculation module, the obstacle avoidance sensing calculation module and a cabin operation system of the aircraft, and is used for acquiring the flight state information, the waypoint instruction and/or the cabin operation instruction, performing control law redundancy calculation and voting based on the flight state information and the waypoint instruction or based on the flight state information and the cabin operation instruction, outputting corresponding actuator control signals and sending the corresponding actuator control signals to corresponding actuators on the aircraft, and driving each actuator to control the aircraft to fly according to the obstacle avoidance path or the pilot control path.
2. The flight control system of claim 1, wherein the obstacle avoidance awareness calculation module is further configured to generate and send an alert command to the flight control module when errors of two sets of obstacle avoidance information are outside the set range, the alert command being configured to indicate that the obstacle avoidance awareness calculation module is disabled and intelligent driving is unavailable; And the flight control module is also used for outputting corresponding actuator control signals based on the cabin operation instructions and sending the corresponding actuator control signals to corresponding actuators on the aircraft if the warning instructions and the cabin operation instructions are received, and driving each actuator to control the aircraft to fly according to the pilot control path.
3. The flight control system of claim 1, wherein the two visual positioning mapping sub-modules are communicatively coupled, each configured to: The obstacle avoidance information and the power-on times of the current visual positioning and image building sub-module are sent to the other visual positioning and image building sub-module, and the obstacle avoidance information and the power-on times sent by the other visual positioning and image building sub-module are received; If the error of the obstacle avoidance information of the current visual positioning and mapping sub-module and the obstacle avoidance information of the other visual positioning and mapping sub-module is in a set range, determining a main visual positioning and mapping sub-module based on the current power-on times of the visual positioning and mapping sub-module and the power-on times of the other visual positioning and mapping sub-module, wherein the main visual positioning and mapping sub-module is one of the current visual positioning and mapping sub-module or the other visual positioning and mapping sub-module; If the current visual positioning and mapping sub-module is the main visual positioning and mapping sub-module, generating the waypoint instruction based on the obstacle avoidance information of the current visual positioning and mapping sub-module and sending the waypoint instruction to the flight control module.
4. The flight control system of claim 1, wherein each of the visual localization mapping sub-modules comprises: The second transmission unit is in communication connection with a detection radar and a display device on the aircraft and is used for acquiring the environmental point cloud data detected by the detection radar and the target point data input by a user through the display device after the aircraft enters an intelligent driving mode; A storage unit that stores map data in advance; The computing unit is in communication connection with the second transmission unit and the storage unit, and is used for acquiring the environment point cloud data, the target point data and the map data, and carrying out synchronous positioning and map construction algorithm calculation based on the acquired data to generate the obstacle avoidance information; The second transmission unit is also used for being in communication connection with the flight control module and sending the waypoint instruction to the flight control module and the display device.
5. The flight control system of claim 1, wherein the flight multisource sensing data comprises inertial measurement data and target sensor data, and wherein the flight status information comprises at least position information, attitude information, and external environmental information of the aircraft; the flight data calculation module includes: The inertial measurement units are used for acquiring inertial measurement data, and the inertial measurement data at least comprise angular speed and acceleration data of the aircraft; The first transmission unit is provided with a plurality of external interfaces, the plurality of external interfaces are in communication connection with a plurality of target sensors on the aircraft and are used for acquiring target sensor data detected by the plurality of target sensors, carrying out packet processing on the acquired target sensor data, and distributing the packet data to each micro-controller unit through an internal bus, wherein the target sensor data at least comprises radio altimeter data, attack angle sensor data, barometric altimeter data, real-time dynamic positioning data, magnetic heading data and visual odometer data; the system comprises a first transmission unit, a plurality of inertial measurement units, a plurality of target sensor data, a plurality of microcontroller units, a flight control module, a target sensor data and a flight state information, wherein each microcontroller unit is in communication connection with the first transmission unit, the plurality of inertial measurement units and the flight control module, and is used for acquiring a plurality of groups of inertial measurement data detected by the plurality of inertial measurement units and the target sensor data, and performing redundancy operation and voting based on the plurality of groups of inertial measurement data to determine target inertial data; The system comprises a plurality of microcontroller units, a plurality of control units and a plurality of control units, wherein the microcontroller units are in communication connection and are used for exchanging the flight state information, each microcontroller unit is used for voting a plurality of groups of flight state information, the voting result is sent to other microcontroller units, and the voting result is used for representing whether each microcontroller unit fails or not; and if the main microcontroller unit is not invalid, the main microcontroller unit is used for sending the generated flight state information to the flight control module through the first transmission unit, and the main microcontroller unit is one of a plurality of microcontroller units.
6. The flight control system of claim 5, wherein each of the microcontroller units is configured to: After each micro controller unit is electrified, self-checking operation and level triggering type hardware synchronous operation are carried out, and the level triggering type hardware synchronous operation is used for synchronizing task time sequences of each micro controller unit; After each micro-controller unit passes self-checking and task time sequences of each micro-controller unit are synchronous, the power-on times of each micro-controller unit are obtained; determining the main microcontroller unit based on the power-on times of the respective microcontroller units; And when the main microcontroller unit fails, the main microcontroller unit stops outputting signals, and the other non-failed microcontroller unit sends the generated flight state information to the flight control module.
7. The flight control system of claim 1, wherein the flight control module comprises: Each flight control unit is used for acquiring the flight state information, the waypoint instruction and/or the cabin operation instruction, performing control law operation based on the flight state information and the waypoint instruction or based on the flight state information and the cabin operation instruction, and outputting corresponding actuator control signal candidate values; the flight control units are used for exchanging the actuator control signal candidate values, each flight control unit is used for voting a plurality of groups of actuator control signal candidate values, and sending voting results to other flight control units, and the voting results are used for representing whether each flight control unit fails or not; if the main flight control unit does not fail, the main flight control unit is used for sending the output actuator control signal candidate value as a final actuator control signal to a corresponding actuator on the aircraft, and the main flight control unit is one of the plurality of flight control units; And the standby flight control unit is in communication connection with the plurality of flight control units and is used for acquiring the flight state information and the cabin operation instruction when the plurality of flight control units fail or cannot acquire the heartbeat data of the plurality of flight control units, performing control law redundancy calculation and voting based on the flight state information and the cabin operation instruction, outputting corresponding actuator control signals and sending the corresponding actuator control signals to corresponding actuators on the aircraft.
8. The flight control system of claim 7, wherein each of the flight control units is configured to: performing self-checking operation after each flight control unit is electrified; After each flight control unit passes the self-test, the power-on times of each flight control unit are obtained; determining the main flight control unit based on the power-on times of each flight control unit; When the main flight control unit fails, the main flight control unit stops outputting signals, and the other non-failed flight control unit sends the output actuator control signal candidate value as a final actuator control signal to a corresponding actuator on the aircraft.
9. A method of flight control adapted for use in a flight control system as claimed in any one of claims 1 to 8, the method comprising: when the flight state information and the waypoint instruction are acquired and the cabin operation instruction is not acquired, performing control law redundancy operation and voting based on the flight state information and the waypoint instruction, generating a first actuator control signal and sending the first actuator control signal to corresponding actuators on the aircraft, and driving each actuator to control the aircraft to fly according to the obstacle avoidance path; When the cabin operation instruction is acquired, control law redundancy calculation and voting are carried out based on the cabin operation instruction, a second actuator control signal is generated and sent to corresponding actuators on the aircraft, and each actuator is driven to control the aircraft to fly according to a path corresponding to the cabin operation instruction.
10. An aircraft comprising a flight control system as claimed in any one of claims 1 to 8.

Description

Flight control system, flight control method and aircraft Technical Field The invention relates to the technical field of aircraft control, in particular to a flight control system, a flight control method and an aircraft. Background The flight control system is a core component of a vertical take-Off and landing (VERTICAL TAKE-Off AND LANDING, VTOL) aircraft, the VTOL aircraft is required to realize multi-mode switching such as vertical take-Off and landing, hovering, transitional flight and flat flight, and the flight control system is mainly used for accurately acquiring flight state data of the aircraft in multi-modes, receiving and analyzing flight instructions, generating an actuator control signal through operational decisions, further accurately controlling the attitude, track and power output of the aircraft, and guaranteeing the aircraft to fly stably and safely according to preset intention in complex mode switching and operation scenes. The VTOL aircraft is often applied to scenes such as urban air traffic, low-altitude complex terrain operation and the like, the flight environment is changeable, the safety and redundancy requirements are extremely high, the operation reliability of the flight control system of the VTOL aircraft is directly related to the flight safety and the task completion efficiency of the aircraft, and the VTOL aircraft is very important for large-scale application of the VTOL aircraft. Therefore, how to improve the overall operation reliability of the VTOL aircraft flight control system and avoid various failure risks becomes a key problem to be solved in the technical field of VTOL aircraft. Disclosure of Invention In view of the above problems, the invention provides a flight control system, a control method and an aircraft, which remarkably improve the operation reliability of the flight control system, meet the high safety redundancy requirement of the VTOL aircraft and ensure the safe and stable flight of complex scenes through the collaborative design of multi-module core function physical and logical double isolation, obstacle avoidance information cross check, active-standby control switching and multi-level redundancy protection. In a first aspect, a flight control system is provided, comprising: The flight data calculation module is used for acquiring flight multisource sensing data, carrying out redundancy calculation and voting based on the flight multisource sensing data, and generating flight state information, wherein the flight state information is used for reflecting real-time motion states and environment adaptation parameters of the aircraft; The obstacle avoidance perception calculation module comprises two visual positioning and image construction sub-modules, wherein each visual positioning and image construction sub-module is used for acquiring environment point cloud data and target point data after an aircraft enters an intelligent driving mode, generating obstacle avoidance information based on the environment point cloud data and the target point data, and the obstacle avoidance information at least comprises an obstacle map and an obstacle avoidance path; the flight control module is in communication connection with the flight data calculation module, the obstacle avoidance sensing calculation module and a cabin operation system of the aircraft, and is used for acquiring the flight state information, the waypoint instruction and/or the cabin operation instruction, performing control law redundancy calculation and voting based on the flight state information and the waypoint instruction or based on the flight state information and the cabin operation instruction, outputting corresponding actuator control signals and sending the corresponding actuator control signals to corresponding actuators on the aircraft, and driving each actuator to control the aircraft to fly according to the obstacle avoidance path or the pilot control path. In some embodiments, the obstacle avoidance perception calculation module is further configured to generate an alarm instruction and send the alarm instruction to the flight control module when the error of the two sets of obstacle avoidance information is outside the set range, where the alarm instruction is used to indicate that the obstacle avoidance perception calculation module is invalid and intelligent driving is unavailable; And the flight control module is also used for outputting corresponding actuator control signals based on the cabin operation instructions and sending the corresponding actuator control signals to corresponding actuators on the aircraft if the warning instructions and the cabin operation instructions are received, and driving each actuator to control the aircraft to fly according to the pilot control path. In some embodiments, the two visual positioning mapping submodules are communicatively connected, each of the visual positioning mapping submodules being configured to: The obstacle avoid