CN107293157A - A kind of Testing Platform method perceived for landform with warning system - Google Patents
A kind of Testing Platform method perceived for landform with warning system Download PDFInfo
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- CN107293157A CN107293157A CN201510918925.9A CN201510918925A CN107293157A CN 107293157 A CN107293157 A CN 107293157A CN 201510918925 A CN201510918925 A CN 201510918925A CN 107293157 A CN107293157 A CN 107293157A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0073—Surveillance aids
- G08G5/0082—Surveillance aids for monitoring traffic from a ground station
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B29/00—Checking or monitoring of signalling or alarm systems; Prevention or correction of operating errors, e.g. preventing unauthorised operation
Abstract
The present invention relates to a kind of Testing Platform method perceived for landform with warning system, including model aircraft and environment module, outdoor scene display module and virtual manoeuvring platform.Step one, six degree of freedom flight simulation model is set up under Matlab environment, model is mainly made up of five parts, including power, torque, six degrees of freedom model, engine mockup and atmospheric parameter model；Step 2, by airplane trim；Step 3, transfers digital elevation data from topographic database, represents ground elevation with one group of orderly array of values form, artificially generated terrain is exported to viewing platform；Step 4, driver shows according to outdoor scene, manipulates associated mechanisms adjustment aspect control aircraft flight；Step 5, above-mentioned emulation platform and tested TAWS systems are crosslinked.The present invention can carry out TAWS system performance testings for different types, according to test result it is proposed that or optimization TAWS defaults threshold value and workaround, effectively improve aircraft safety performance.
Description
Technical field
It is specifically that a kind of test perceived for landform with warning system (TAWS) is put down the present invention relates to method invention field
Platform design method.The present invention can carry out TAWS system performance testings for different types, according to test result it is proposed that or excellent
Change TAWS defaults threshold value and workaround, effectively improve aircraft safety performance.
Background technology
Landform is perceived and warning system (TAWS) is the important leverage of aviation safety, can be prevented effectively from controllable flight and be hit ground thing
Therefore.The alarm mode and alarm threshold of TAWS products set the Distal promoter performance for directly determining aircraft.Current TAWS products
Performance test mainly carried out by actual measurement of installing, also there is relevant design to complete TAWS productions by fully simulated or semi-physical simulation
Product performance test.
Pertinent literature is consulted, although it can be found that two kinds of method of testings can complete the performance test of TAWS products,
Need to undertake the risk of the high cost of high-risk by the method test process for actual measurement of installing, if producing false-alarm, false alarm, may threaten
Crew and the safety of aircraft.And current existing dependence test technology or product, although the survey of TAWS properties of product can be completed
Examination, but due to not considering environmental factor, test process outdoor scene shows also not specific perfect enough, and aircraft flight emulation is inadequate
Truly, test result is caused to reach expected reliability, validity.Accordingly, it would be desirable to optimize existing design, set up more
Current aircraft posture, warning information, dial plate data display can be understood in real time in the test environment for reality of fitting, test process
Deng, improve test system, strengthen test result reliability.
The content of the invention
The purpose of innovation and creation
The present invention devises a kind of Testing Platform method perceived for landform with warning system, and the system is integrated and examined
Environmental factor, aeroplane performance (such as aircraft type, size, control performance parameter) considered, have been shown by the outdoor scene of test process
To carry out the test of TAWS system products performance simulation and optimization.According to the simulation results it is proposed that or optimization TAWS defaults
Threshold value and workaround, it is to avoid the dangerous and high testing cost that protype measurement is brought, test environment and practical flight
Environment high is fitted, and outdoor scene has shown test system perfect in real time, and test process has more preferable control property, test result to have higher
Reliability.It is (such as fighter plane, straight that the invention for design can also meet China's aeroplane performance parameter according to the characteristics of China's aircraft
Rise machine etc.) TAWS systems experimental verification is provided, the landform for having oneself core technology to making China is perceived and warning system, is carried
Perception of the high aircraft to flight environment of vehicle and the adaptability to hazard region are significant.
For importance of the TAWS system products performance to Flight Safety, and at present, testing needle is true to different type of machines
The present situation of the high-risk high cost of TAWS performances is tested in machine actual measurement, and the present invention proposes a kind of survey perceived for landform with warning system
Try platform designing method.Its reliability is verified by performance capabilities of the TAWS products under different type of machines, varying environment, and according to
The simulation results are optimized to the setting pattern and threshold value of TAWS products, can also basis on the basis of above-mentioned test is completed
The information such as aspect and environment proposes the workaround of different dangerous situations.Verified and excellent in the case of safety, low cost
Change the alarm performance of TAWS products under different type of machines, varying environment.
Technical scheme
It is a kind of perceived for landform and warning system Testing Platform method, including model aircraft and environment module,
Outdoor scene display module, virtual manoeuvring platform, TAWS system electronic objects units, it is characterised in that specific design step is as follows：
Step one, six degree of freedom flight simulation model is set up under Matlab environment, model is mainly made up of five parts, wrapped
Include power, torque, six degrees of freedom model, engine mockup and atmospheric parameter model；
1. power and moment model：
1) aerodynamic force and its coefficient
L=CxQcSl
Y=CyQcS
Z=CzQcS
Wherein:Qc is dynamic pressure, and S is wing area.Cx, Cy, CzRespectively lift coefficient, lateral force coefficient and resistance coefficient.With
Upper force coefficient can dynamic interpolation be obtained in simulation process by aerodynamic data table；
2) setting of torque
According to the experience of engineering design, three second order feedback controllers are established by x-axis, y-axis and z-axis respectively, as shown in Figure 2：
X-axis torque=Y-axis torque=Kp* angle error-Kd* angular speed
Z axis torque=Kp* angle error-Kd* angular speed-Kb* yaw angles
Wherein Kp empirically takes 4.5, Kd to take 3.1, Kb to take 2.3；
2. six degrees of freedom model
Six degrees of freedom model is made up of 12 dynamics and kinematical equation, is respectively：
1) Attitude kinematic function group：
2) power equation group：
3) momental equation group：
4) navigation equation group：
3. engine mockup：
In this model, motor simpler is first-order system, as shown in Figure 3.It is under conditions of 0 in rolling and yaw angle,
Thrust growth rate=K* (expect thrust-actual thrust), thrust is along body x-axis；
4. atmospheric parameter model：
Atmospheric parameter model uses the mould in the Atmosphere in Simulink under Aerospace Blockset modules
Type, it can calculate 0-20km normal atmosphere parameter；
Step 2, by airplane trim；
Operation model aircraft before, set aircraft the initial angle of attack and elevator angle, make suffered by aircraft make a concerted effort and
Resultant moment is zero, and aircraft keeps straight line is flat to fly；According to below equation, trim is carried out to model aircraft：
Resistance+thrust * COS the angles of pitch)=0
Lift+thrust * SIN (angle of pitch)=gravity
Lift=0.5* atmospheric density * air speeds 2*KL* (- zero liter of angle of attack of the angle of attack)
Resistance=0.5* atmospheric density * air speed 2*KD* the angles of attack square+minimum drag
The wherein zero liter angle of attack is -1 degree, and minimum drag is 0.05mg, KL and KD by empirically determined；
Step 3, transfers digital elevation data from topographic database, and ground is represented with one group of orderly array of values form
Elevation, is drawn using OpenGl and carries out three-dimensional simulation emulation to real terrain, artificially generated terrain is exported to viewing platform；
Step 4, driver shows according to outdoor scene, on the basis of aircraft current pose is grasped, and manipulates associated mechanisms adjustment
Aspect controls aircraft flight.
Step 5, above-mentioned emulation platform and tested TAWS systems are crosslinked.Emulation platform is by the related sensor number of simulation
According to output to tested TAWS systems, record, the storage analysis of test data are completed.
The advantage of invention
The TAWS properties of product tests of the invention from simulating, verifying different type of machines aircraft, build integrated outdoor scene and show mould
The test platform that block, virtual manoeuvring platform, model aircraft and environment module etc. are integrated, sets up different aircrafts under software environment
Model and environmental model, by introducing relief model, detect perception and the alarm performance of TAWS products, by analyzing test knot
Really, propose or optimize the parameter such as TAWS product patterns curve and given threshold under different type of machines, and for different warning information
Propose that corresponding suggestion workaround is referred to for human pilot.
The system realizes the Validity Tests of TAWS properties of product under the environment of safety low cost, it is to avoid current is high-risk
The protype measurement of high cost, and the present invention can also be that design meets China's aeroplane performance parameter according to the characteristics of China's aircraft
The TAWS systems of (such as fighter plane, helicopter) provide experimental verification, and the landform for having oneself core technology to making China is perceived
And warning system, improve perception of the aircraft to flight environment of vehicle and the adaptability to hazard region is significant.
Brief description of the drawings
Fig. 1 is directed to the test platform Organization Chart of TAWS systems
Torque setting figure under Fig. 2 Matlab Simulink environment
Engine mockup modeling figure under Fig. 3 Matlab Simulink environment
Fig. 4 virtual flight gound-mapping design sketch
Fig. 5 emulation test system flow charts
Embodiment
With reference to Figure of description and instantiation, the embodiment to the present invention is illustrated.
This test is mainly made up of three big modules, i.e., outdoor scene show and virtual manoeuvring platform, model aircraft and environmental model,
Tested TAWS product electronic objects units, correlation is as shown in Figure 1.
Step one, six degree of freedom flight simulation model is set up under Matlab environment, model is mainly made up of five parts, wrapped
Include power, torque, six degrees of freedom model, engine mockup and atmospheric parameter model.The initialization of model is completed, including it is selected winged
Machine model, setting aircraft major parameter (such as aircraft type, size, performance parameter information), initialization aircraft radio height,
The information such as headway, inclination angle.
Step 2, by airplane trim；So-called trim is exactly before operation model aircraft, to set the initial angle of attack and liter of aircraft
Rudder kick angle is dropped, makes making a concerted effort suffered by aircraft and resultant moment is zero, aircraft keeps straight line is flat to fly.
Step 3, transfers digital elevation data from topographic database, and ground is represented with one group of orderly array of values form
A kind of actual ground model of elevation, is drawn using OpenGl and carries out three-dimensional simulation emulation to real terrain, specific method is as follows：
1. elevation information is obtained：Digital elevation model is one kind that ground elevation is represented with one group of orderly array of values form
Actual ground model.Terrain data storage is in binary file, and preceding 40 bytes describe basic terrain information, later every
Two bytes store a height value, common 6001X6001 point.In program height value is obtained using C++ standard IO storehouses.
2. OpenGl is drawn：Render mode to fan for rectangle, four points are rendered every time, rendered and terminated after a line, continued wash with watercolours
Contaminate next line.In order to improve drawing efficiency, use fixed point array of indexes to be drawn, can have been reduced using fixed point array of indexes
Draw the brought expense of shared fixed point.The landform of drafting is exported to viewing platform, as shown in Figure 4.
Step 4, driver shows according to outdoor scene, on the basis of aircraft current pose is grasped, and manipulates associated mechanisms adjustment
Aspect controls aircraft flight.
Step 5, above-mentioned emulation platform and tested TAWS systems are crosslinked.According to shown in Fig. 5, the survey of system under test (SUT) is carried out
Examination process.The random a certain partial data transferred in terrain lib in test process, or carried out for a certain environmental factor etc.
TAWS properties of product are tested, and aircraft enters the environment with any attitude (height, speed), driver's evading according to system suggestion
Measure drives an airplane, and judges whether TAWS alarms are correct in time by analyzing test result, so as to draw TAWS products threshold value point
Whether suitable cut.Change aspect, similar environmental information is set or corresponding environment is set for different alert modes
Information makes aircraft repeatedly navigate by water, and judges TAWS product successful alarm rates by analyzing test result, and then TAWS products are carried out
Threshold optimization proposes new alarm measure.
Claims (1)
1. a kind of Testing Platform method perceived for landform with warning system, including outdoor scene display module, virtual manipulation
Platform, model aircraft and environmental model module, TAWS system electronic objects units, it is characterised in that specific design step is as follows：
Step one, six degree of freedom flight simulation model is set up under Matlab environment, model is mainly made up of five parts, including
Power, torque, six degrees of freedom model, engine mockup and atmospheric parameter model；
1. power and moment model：
1) aerodynamic force and its coefficient
L=CxQcSl
Y=CyQcS
Z=CzQcS
Wherein Qc is dynamic pressure, and S is wing area.Cx, Cy, CzRespectively lift coefficient, lateral force coefficient and resistance coefficient.Above power
Coefficient can dynamic interpolation be obtained in simulation process by aerodynamic data table；
2) setting of torque
According to the experience of engineering design, three second order feedback controllers are established by x-axis, y-axis and z-axis respectively：
X-axis torque=Y-axis torque=Kp* angle error-Kd* angular speed
Z axis torque=Kp* angle error-Kd* angular speed-Kb* yaw angles
Wherein Kp empirically takes 4.5, Kd to take 3.1, Kb to take 2.3；
2. six degrees of freedom model
Six degrees of freedom model is made up of 12 dynamics and kinematical equation, is respectively：
1) Attitude kinematic function group：
2) power equation group：
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3. engine mockup：
In this model, motor simpler is first-order system, is thrust growth rate=K* under conditions of 0 in rolling and yaw angle
(expect thrust-actual thrust), thrust is along body x-axis；
4. atmospheric parameter model：
Atmospheric parameter model uses the model in the Atmosphere in Simulink under Aerospace Blockset modules, it
0-20km normal atmosphere parameter can be calculated；
Step 2, by airplane trim；
Before operation model aircraft, the initial angle of attack and elevator angle of aircraft are set, makes making a concerted effort suffered by aircraft and makes a concerted effort
Square is zero, and aircraft keeps straight line is flat to fly；According to below equation, trim is carried out to model aircraft：
Resistance+thrust * COS the angles of pitch)=0
Lift+thrust * SIN (angle of pitch)=gravity
Lift=0.5* atmospheric density * air speeds 2*KL* (- zero liter of angle of attack of the angle of attack)
Resistance=0.5* atmospheric density * air speed 2*KD* the angles of attack square+minimum drag
The wherein zero liter angle of attack is -1 degree, and minimum drag is 0.05mg, KL and KD by empirically determined；
Step 3, transfers digital elevation data from topographic database, and ground elevation is represented with one group of orderly array of values form
A kind of actual ground model, using OpenGl draw to real terrain carry out three-dimensional simulation emulation, by artificially generated terrain export to
Viewing platform；
Step 4, driver shows according to outdoor scene, on the basis of aircraft current pose is grasped, and manipulates associated mechanisms adjustment aircraft
Gesture stability aircraft flight.
Step 5, above-mentioned emulation platform and tested TAWS systems are crosslinked.Emulation platform exports the related data of simulation to quilt
TAWS systems are surveyed, record, the storage analysis of test data is completed.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115273559A (en) * | 2022-07-07 | 2022-11-01 | 沈阳飞机工业（集团）有限公司 | Method for performing virtual simulation on head-up display of aircraft cabin |
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| CN107293157B (en) | 2020-07-03 |
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