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自驾仪是无人机实现自主飞行与自主完成各项任务的核心器件。现有商用无人机自驾仪大多没有进行硬件加固,直接用来执行重大任务时有一定风险。通过分析可知自驾仪组成模块中对安全性和可靠性影响最大的模块为控制解算器。根据逐步提高的容错需求,使用复位器、计数器、反相器、选择器等简单器件以及在芯片内部添加简单代码,分别设计了单机复位加固方案、双机热备加固方案、硬件切换和软件切换双机互备加固方案。重点研究了加固方案的可靠性随时间的变化关系,并进行了对比分析。对加固方案的工作机制进行了模拟,分析了这些方案在处理故障时的系统异常输出时间等容错特性。计算表明,这些加固方案可以显著提高系统的可靠性,其中双机互备加固方案的可靠性最高。该研究对于指导高可靠性自驾仪设计时在容错效果与复杂度、成本等方面进行折中具有较大的参考意义。
Autopilot is the UAV to achieve autonomous flight and autonomous tasks to complete the core components. Most of the existing commercial UAV car instrument without hardware reinforcement, directly used to perform major tasks have a certain risk. Through the analysis we can see autopilot module module for safety and reliability of the most influential module for the control solver. According to the gradual increase of fault-tolerant requirements, using simple devices such as reset, counters, inverters, selectors and simple code inside the chip, designed a single reset and reinforcement scheme, dual hot standby reinforcement scheme, hardware switching and software switching Mutual reinforcement plan double. The emphasis is put on the relationship between the reliability of the reinforcement plan and the time, and the comparative analysis is made. The working mechanism of the reinforcement scheme was simulated and the fault tolerance characteristics such as system abnormal output time of these schemes were analyzed. The calculation shows that these reinforcement schemes can significantly improve the reliability of the system, of which the reliability of the two-machine mutual reinforcement scheme is the highest. The study has great reference value for guiding the design of high-reliability autopilot when it comes to the compromise of fault tolerance, complexity and cost.