Dual-redundant unmanned ship ship-borne control system and method based on ARM

Abstract

The invention relates to a dual-redundant unmanned ship ship-borne control system and method based on an ARM. The system comprises an information collection system, a first arbitration switching system, a second arbitration switching system, an execution mechanism, a first ARM processor, a second ARM processor, a communication system and a power supply. The task level synchronization is realized by the two ARM processors. The dual-redundant designs of all sensors are made. The data of two paths of sensors are transmitted to two ARM processors at the same time to carry out comparison, correct data is selected to carry out task operation, and a comparison point is set in the task operation. The corresponding data is subjected to consistency judgment, if the corresponding data is inconsistent, the arbitration switching systems carry out fault diagnosis on the two ARM processors, a failed ARM processor is isolated, and at the same time an ARM processor with normal operation is selected to control output. According to the dual-redundant unmanned ship ship-borne control system and method, with hardware redundancy as a basis, with software redundancy, information redundancy and time redundancy as a supplement, the reliability, stability and safety of the unmanned ship ship-borne control system are effectively improved, the safe and stable operation of an unmanned ship is ensured, and various complex tasks are smoothly completed.

Description

technical field [0001] The invention belongs to the field of computer communication and automation, and in particular relates to an ARM-based dual-redundancy unmanned ship onboard control system and method. Background technique [0002] An unmanned ship is a small surface platform with autonomous planning and autonomous navigation capabilities, and can autonomously complete tasks such as environmental perception and target detection. Compared with unmanned aerial vehicles, the research on unmanned ships started late, but its development is rapid. The research on unmanned ships plays an important role in applications such as hydrological monitoring and military reconnaissance strikes. At present, many countries have achieved outstanding results in the research of unmanned ships. For example, the US "Spartan Scout" unmanned ship, Israel's "Protector" unmanned ship, my country's "Tianxiang-1" unmanned ship, etc. [0003] With the gradual expansion of the application of unman...

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Problems solved by technology

[0004] The technical problem to be solved by the present invention is, aiming at the deficiencies in the prior art, do a dual redundant design for the onboard sensor, wireless data transmission station and processor of the onboard control system of the unmanned ship, and establish a system based on hardware redundancy. , fault-tolerant architecture supplemented by software redundancy, information redundancy and time redundancy, through the arbitration switching system for fault diagnosis, fault isolation and system dynamic reconfiguration, effectively improving the reliability of the unmanned ship onboard control system, Stability and safety, to ensure the safe and stable navigation of unmanned ships, and the smooth completion of various complex tasks

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