I can completely sympathize with the difficulty of upgrading 24/7 critical infrastructure, especially given that mistakes can kill or injure people. I'd try to just deploy separate parallel systems instead.
At a comically reduced scale, businesses migrating between ERPs (or similar line-of-business apps) often run both the old and new systems 'side-by-side' for some period of time. What I've never seen or heard them doing is trying to replace components or sub-systems of the old system with those of the new system. That kind of integration work would be awful and would probably drastically increase the odds that the migration would crash and burn.