Systems and methods for distributed control computing for a high altitude long endurance aircraft
Inventors
Lisoski, Derek • Sechrist, William Stuart
Assignees
Publication Number
US-12430958-B2
Publication Date
2025-09-30
Expiration Date
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Abstract
Systems, devices, and methods including a first flight control computer (FCC) of two or more FCCs; a second FCC of the two or more FCCs; at least one selector in communication with the first FCC; and at least one watchdog window in communication with the at least one selector, where the at least one watchdog window monitors a performance of the first FCC based on an electrical pulse emitted by the FCC; where the at least one watchdog window is configured to detect a fault pulse of the electrical pulse emitted by the first FCC; and where the selector is configured to toggle to the second FCC based on the detected fault pulse emitted by the first FCC.
Core Innovation
A system embodiment includes a first flight control computer (FCC) of two or more FCCs; a second FCC of the two or more FCCs; at least one selector in communication with the first FCC; and at least one watchdog window in communication with the at least one selector, where the at least one watchdog window monitors a performance of the first FCC based on an electrical pulse emitted by the FCC; where the at least one watchdog window is configured to detect a fault pulse of the electrical pulse emitted by the first FCC; and where the selector is configured to toggle to the second FCC based on the detected fault pulse emitted by the first FCC.
The background identifies challenges in FCC design including difficulty physically housing all desired communication lines between the information processing system and outside systems, a point-to-point design that establishes a single connection per node which may lead to high serial traffic taxing the CPU, and the importance of having a system that monitors the performance of the FCC so the UAV may maintain flight in the event that the FCC is malfunctioning.
In one embodiment, the FCC has a processor with an FPGA fabric proximate the processor to expand I/O capability and a plurality of serial ports, where a configuration with the FPGA provides enhanced flexibility for serial port to pin connections and in one embodiment a plurality of, for example, twenty serial ports are disposed at the FCC to provide substantial I/O. The system further includes an integrated watchdog window that monitors electrical pulses or heartbeats generated by each FCC and a selector that toggles to a backup FCC based on detected fault pulses, with the selector configured to reset power to the first FCC and toggle back after reset so that continuous flight may be sustained.
Claims Coverage
Two independent claims define a system and a method. The claims include thirteen main inventive features relating to redundant FCCs, watchdog pulse monitoring, selector toggling and power reset, fault pulse characterization, and a flight termination system.
Two flight control computers
a first flight control computer (FCC) of two or more FCCs; a second FCC of the two or more FCCs;
Selector in communication with both FCCs
at least one selector in communication with the first FCC and the second FCC;
Watchdog window monitoring FCC electrical pulses
at least one watchdog window ... monitors a performance of the first FCC based on a first electrical pulse emitted by the first FCC, and ... monitors a performance of the second FCC based on a second electrical pulse emitted by the second FCC;
Flight termination system
a flight termination system;
Detection of fault pulses outside predetermined ranges
the at least one watchdog window is configured to detect a first fault pulse of the first electrical pulse emitted by the first FCC, wherein the detected first fault pulse is a pulse that is outside a predetermined frequency range and a predetermined amplitude range; and the at least one watchdog window is configured to detect a second fault pulse of the second electrical pulse emitted by the second FCC;
Selector toggles to backup FCC if backup is healthy
the selector is configured to toggle to the second FCC based on the detected first fault pulse emitted by the first FCC if there is no detected second fault pulse of the second electrical pulse emitted by the second FCC;
Selector resets power and toggles back after reset
after toggling to the second FCC, the selector is further configured to reset power to the first FCC; and the selector is configured to toggle to the first FCC after the power has been reset to the first FCC.
Monitoring FCC performance via watchdog window based on electrical pulses
monitoring, via a watchdog window, a performance of a first flight control computer (FCC) of two or more FCCs, wherein the performance is based on a first electrical pulse emitted by the first FCC; monitoring, via a watchdog window, a performance of a second FCC of the two or more FCCs, wherein the performance is based on a second electrical pulse emitted by the second FCC;
Method detection of fault pulses outside predetermined ranges
detecting, via the watchdog window, a first fault pulse of the first electrical pulse emitted by the first FCC, wherein the detected first fault pulse is a pulse that is outside a predetermined frequency range and a predetermined amplitude range; detecting, via the watchdog window, a second fault pulse of the second electrical pulse emitted by the second FCC;
Method toggling to second FCC if backup is healthy
toggling, by a selector in communication with the watchdog window, to a second FCC based on the detected fault pulse emitted by the first FCC if there is no detected second fault pulse of the second electrical pulse emitted by the second FCC;
Method resetting power to the first FCC after toggling
resetting, via the selector, power to the first FCC after toggling to the second FCC;
Method toggling back to first FCC after power reset
toggling, by the selector, to the first FCC after the power has been reset to the first FCC;
Method implementing landing via flight termination system
implementing, by a flight termination system, a landing procedure based on the detected first fault pulse emitted by the first FCC and the detected second fault pulse emitted by the second FCC.
Independent claim 1 recites a redundant FCC system with selectors and watchdog windows that monitor electrical pulses, detect fault pulses outside predetermined frequency and amplitude ranges, toggle to a backup FCC when appropriate, and reset and restore the primary FCC. Independent claim 6 recites corresponding method steps for monitoring both FCCs via watchdog windows, detecting fault pulses, toggling to a backup FCC when appropriate, resetting power to the primary FCC, toggling back after reset, and invoking a flight termination landing procedure when both FCCs exhibit fault pulses.
Stated Advantages
Increased I/O capacity via an FPGA and a plurality of serial ports, for example twenty serial ports, providing substantial I/O.
Accurately distribute control without over-taxing the processor, reducing the amount of processing required of the processor.
Lower power operation compared to typical Ethernet; the FCC may have power usage in an approximate range measured in milliWatts (mW) versus approximately one watt for a typical Ethernet connection.
Selector simplicity with few failure modes increases reliability and may require minimal maintenance.
Auto-switch toggling and power reset allow the UAV to sustain continuous flight by switching to a healthy backup FCC and restoring the primary FCC.
Documented Applications
Flight control for an unmanned aerial vehicle (UAV).
High altitude long endurance aircraft, including a high altitude long endurance solar-powered aircraft.
Connecting serial ports to external elements of the flight control system such as buses, modems, data links, transponders, and the like.
Implementing a landing procedure via a flight termination system when both FCCs exhibit detected fault pulses.
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