Embedded Multi-mode Distribution System Fault-tolerant Technology Research

According to the high reliability specifically for embedded distributed control system of UAV (Unmanned Aerial Vehicle) in information warfare, this thesis studies the multi-mode fault-tolerant technology for heterogeneous embedded distributed computing system.Based on system characteristics such as modularization, concurrence nature and autonomy, the theoretical model for the distributed node, task and system have been brought forward combined with fault-tolerance. On the basis of this theory model, the fault-tolerant technology of the key node and between nodes for UAV embedded distributed control system has been studied. TMR redundancy for flying control system and backup redundancy for communication terminal has been designed, and software fault-tolerance based on checking state has been brought up. According to task model of system node, system task set table and system state description table has been structured. Owing to these studies, self monitors and self restore mechanism for embedded software have been brought up.Similar relation of nodes is studied from the point of task and resource, and conception and calculates theory about similar degree is defined. Then thesis brings up the algorithm of similar nodes auto discovers (SNAD), optimizes algorithm (OSNAD) and the key task redundancy auto deployment between similar nodes (RTAD). Further more, it gives fault detecting and tactics of task and node recovering. At last TMR and tasks redundancy and recovering have been simulated and verified.The system model, multi-mode fault-tolerance of nodes and between them of this thesis has been proved to be very important and useful for UAV embedded distributed system. This model and fault-tolerance methods are extended easily applying to other similar platforms.