CN107544529A - Flight control parameter on-line tuning method and system - Google Patents
Flight control parameter on-line tuning method and system Download PDFInfo
- Publication number
- CN107544529A CN107544529A CN201710800006.0A CN201710800006A CN107544529A CN 107544529 A CN107544529 A CN 107544529A CN 201710800006 A CN201710800006 A CN 201710800006A CN 107544529 A CN107544529 A CN 107544529A
- Authority
- CN
- China
- Prior art keywords
- flight control
- control parameter
- flight
- change
- unmanned plane
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of flight control parameter on-line tuning method and system.Methods described is applied to the unmanned plane and GCU of communication connection, and Flight Control Law is loaded with unmanned plane.GCU receives the operation being modified to flight control parameter, and carries out legitimacy inspection to the flight control parameter after change.Flight control parameter after change is sent to unmanned plane by GCU when the flight control parameter after judging to change is legal.Unmanned plane receives the flight control parameter after change, and carries out legitimacy inspection to the flight control parameter after change.Unmanned plane substitutes into Flight Control Law when the flight control parameter after judging to change is legal, by the flight control parameter after change and resolved, and flight controlled quentity controlled variable is generated, to control unmanned plane during flying.Thus, real-time, the on-line tuning to flight control parameter can be realized during unmanned plane during flying.
Description
Technical field
The present invention relates to technical field of flight control, in particular to a kind of flight control parameter on-line tuning method
And system.
Background technology
With the rapid development of the correlation techniques such as advanced material, aviation electronics, flight control, unmanned plane in modern military and
The application of civil area is more and more extensive.And with flight navigation, the development of control theory and engineering application, especially automatically
The birth of flight control system and automatic pilot equipment so that the flight control mode of unmanned plane by early stage remote control distributor by
Autonomous flight is gradually developed into control with Intelligent flight, and the key core of flight control system is then the flight that design meets requirement
Control law.
At present, the conventional method of UAV Flight Control rule design is：Flight control mould is established using simulation modeling instrument
Type and flight simulation environment, the design of Flight Control Law structure and parameter is then carried out on the basis of simulation model, passes through flight
Simulated environment carries out the off-line simulation checking of Flight Control Law, and flight control law is converted into execution code after the completion of emulation,
Reload to unmanned plane and carry out test flight, judge whether Flight Control Law design result meets to want by practical flight data
Ask.This common design of control law method can be to modeling dependent on ripe flight control model and design tool, and typically
Precision and the applicability of design of Simulation instrument etc. propose high requirement, and this not only needs to put into substantial amounts of research and development energy, and
Flight Control Law Design and optimization iterative process may be caused more slow.
Further, since live flying environment and unmanned plane and the simulated environment established and model aircraft can always have one
Determine difference, therefore the design of Flight Control Law needs constantly modify, optimize.Moreover, set in Flight Control Law optimization, change
During meter, unmanned plane can be only in the grounding or Ground-Holding state.Even if every time only to some parameters of Flight Control Law
Modify, require the emulation for re-starting Flight Control Law, calculating and test, then generate airborne execution code, lay equal stress on
Unmanned plane newly is loaded onto, process is numerous and diverse and certain repetitive operation be present, is unfavorable for quick research and development and requires.Also, once research and develop
Personnel can not grasp the flight control model and design tool of maturation, and the exploitation of Flight Control Law then seems abnormal difficult.
The content of the invention
In order to overcome above-mentioned deficiency of the prior art, the technical problems to be solved by the invention are to provide a kind of flight control
Parameter on-line tuning method and system processed, its can in the case where lacking flight control model, design and simulating, verifying environment,
Carry out the change of flight control parameter on GCU and send to unmanned plane, unmanned plane that newest change can be used immediately
Flight control parameter carry out the online resolution of Flight Control Law, without carrying out the repeatability generation and loading of airborne code,
So as to realize during unmanned plane during flying to real-time, the on-line tuning of flight control parameter.
Present pre-ferred embodiments provide a kind of flight control parameter on-line tuning method, the unmanned plane of application communication connection
And GCU, Flight Control Law is loaded with the unmanned plane, and methods described includes：
The GCU receives the operation being modified to flight control parameter；
The GCU carries out legitimacy inspection to the flight control parameter after change；
The GCU is when the flight control parameter after judging the change is legal, by the flight after change
Control parameter is sent to the unmanned plane；
The unmanned plane receives the flight control parameter after the change, and the flight control parameter after change is closed
Method is examined；
Flight after change is controlled ginseng by the unmanned plane when the flight control parameter after judging the change is legal
Number substitutes into the Flight Control Law and resolved, and flight controlled quentity controlled variable is generated, to control the unmanned plane during flying.
Present pre-ferred embodiments also provide a kind of flight control parameter on-line tuning system, are applied to and UAV Communication
The GCU of connection, the system include：
First receiving module, for receiving the operation being modified to flight control parameter；
First inspection module, for carrying out legitimacy inspection to the flight control parameter after change；
First sending module, for the flight control parameter after judging the change for it is legal when, will be after change fly
Row control parameter is sent to the unmanned plane.
Present pre-ferred embodiments also provide a kind of flight control parameter on-line tuning system, are set applied to ground control
For the unmanned plane of communication connection, Flight Control Law is loaded with the unmanned plane, the system includes：
Second receiving module, for receiving the flight control parameter after changing, and the flight control parameter after change is entered
Row legitimacy is examined；
Control module, for the flight control parameter after judging the change for it is legal when, by the flight control after change
Parameter processed substitutes into the Flight Control Law and resolved, and flight controlled quentity controlled variable is generated, to control the unmanned plane during flying.
In terms of existing technologies, the invention has the advantages that：
Present pre-ferred embodiments provide a kind of flight control parameter on-line tuning method and system.Methods described is applied to
The unmanned plane and GCU of communication connection.Wherein, it is loaded with Flight Control Law in the unmanned plane.The ground control
Whether equipment examines the flight control parameter after change legal after the operation being modified to flight control parameter is received, and
When the flight control parameter after judging to change is legal, the flight control parameter after change is sent to the unmanned plane.Institute
Unmanned plane is stated after the flight control parameter after changing is received, legitimacy inspection is carried out to the flight control parameter after change, and
When the flight control parameter after judging to change is legal, the flight control parameter after the change of reception is substituted into the flight and controlled
Rule processed is resolved.The flight controlled quentity controlled variable that the unmanned plane resolves generation according to Flight Control Law controls flight.Thus, at nobody
In machine flight course, online, adjustment in real time can be carried out to flight control parameter, effectively reduces Approaches for Modern Flight Control Law Development process
In numerous and diverse and repetitive work, R＆D costs are saved while test flight efficiency is improved, are advantageous to flight control system
The fast and efficiently research and development of system.
To enable the above-mentioned purpose of invention, feature and advantage to become apparent, present pre-ferred embodiments cited below particularly, and
Accompanying drawing appended by cooperation, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the communication scheme of the GCU that present pre-ferred embodiments provide and unmanned plane.
Fig. 2 is the block diagram of GCU in Fig. 1.
Fig. 3 is the block diagram of unmanned plane in Fig. 1.
Fig. 4 is one of schematic flow sheet of flight control parameter on-line tuning method that first embodiment of the invention provides.
Fig. 5 is the two of the schematic flow sheet for the flight control parameter on-line tuning method that first embodiment of the invention provides.
Fig. 6 is the three of the schematic flow sheet for the flight control parameter on-line tuning method that first embodiment of the invention provides.
Fig. 7 is the four of the schematic flow sheet for the flight control parameter on-line tuning method that first embodiment of the invention provides.
Fig. 8 is the schematic diagram for the human-computer interaction interface that first embodiment of the invention provides.
Fig. 9 is the block diagram for the first flight control parameter on-line tuning system that second embodiment of the invention provides.
Figure 10 is the block diagram for the second flight control parameter on-line tuning system that third embodiment of the invention provides.
Icon：100- GCUs；110- first memories；The storage controls of 120- first；130- first is handled
Device；The automatic flight route control areas of 141-；142- offline mode control area；143- inner ring flight control parameters viewing area
Domain；144- outer shroud flight control parameters viewing area；145- flights control parameter changes region；200- unmanned planes；210- second
Memory；The storage controls of 220- second；230- second processors；300- the first flight control parameter on-line tuning systems；
302- display modules；310- creation modules；The receiving modules of 320- first；The inspection modules of 330- first；The sending modules of 340- first；
400- the second flight control parameter on-line tuning systems；The receiving modules of 410- second；420- control modules；430- second sends mould
Block.
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.Generally exist
The component of the embodiment of the present invention described and illustrated in accompanying drawing can be configured to arrange and design with a variety of herein.Cause
This, the detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit claimed invention below
Scope, but it is merely representative of the selected embodiment of the present invention.Based on embodiments of the invention, those skilled in the art are not doing
The every other embodiment obtained on the premise of going out creative work, belongs to the scope of protection of the invention.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Meanwhile the present invention's
In description, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Below in conjunction with the accompanying drawings, some embodiments of the present invention are elaborated.It is following in the case where not conflicting
Feature in embodiment and embodiment can be mutually combined.
Fig. 1 is refer to, Fig. 1 is the communication of GCU 100 and unmanned plane 200 that present pre-ferred embodiments provide
Schematic diagram.The GCU 100 can be established by network and the unmanned plane 200 and communicated to connect, to realize data
Interaction.
In the embodiment of the present embodiment, the network can be the wireless network that wireless data link system provides,
The wireless data link system can include wireless data link ground based terminal and wireless data link Airborne Terminal.The nothing
Line number is arranged on ground according to link ground terminal, is communicated to connect with the GCU 100, the wireless data link machine
Mounted terminal is arranged on unmanned plane 200, communicates to connect, thus, the GCU 100 and institute with the unmanned plane 200
State unmanned plane 200 and realize communication connection.
Fig. 2 is refer to, Fig. 2 is the block diagram of GCU 100 in Fig. 1.The GCU 100 can
To be desktop computer, tablet personal computer and server for being provided with related software etc., unmanned plane 200 and GCU are completed
Interaction data processing, the display of flight control surfaces and management, the management of the service data of GCU 100 between 100
With safeguard etc..
In the present embodiment, the GCU 100 can include the first flight control parameter on-line tuning system
300th, first memory 110, the first storage control 120 and first processor 130.
Between 130 each element of the first memory 110, the first storage control 120 and first processor directly or
Ground connection is electrically connected with, to realize the transmission of data or interaction.For example, these elements can pass through one or more communication between each other
Bus or signal wire, which are realized, to be electrically connected with.The first flight control parameter on-line tuning system is stored with first memory 110
300, the first flight control parameter on-line tuning system 300 include it is at least one can be with software or firmware (firmware)
Form is stored in the software function module in the first memory 110.The first processor 130 is stored in the by operation
Software program and module in one memory 110, so as to perform various function application and data processing.
Wherein, the first memory 110 may be, but not limited to, random access memory (Random Access
Memory, RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable
Read-Only Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only
Memory, EPROM), electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only
Memory, EEPROM) etc..Wherein, first memory 110 is used for storage program, and the first processor 130 is receiving execution
After instruction, described program is performed.The first processor 130 and other access of possible component to first memory 110
It can be carried out under the control of first storage control 120.
The first processor 130 is probably a kind of IC chip, has the disposal ability of signal.Above-mentioned first
Processor 130 can be at general processor, including central processing unit (Central Processing Unit, CPU), network
Manage device (Network Processor, NP) etc..Can also be digital signal processor (DSP), application specific integrated circuit (ASIC),
Field programmable gate array (FPGA) either other PLDs, discrete gate or transistor logic, discrete hard
Part component.It can realize or perform disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
Can be microprocessor or the processor can also be any conventional processor etc..
The GCU 100 can also include a display unit, and the display unit includes man-machine interaction circle
Face, the display unit will need the information that shows to be shown (such as display flight control on the human-computer interaction interface
Interface).
It is appreciated that the structure shown in Fig. 2 is only to illustrate, GCU 100 may also include more more than shown in Fig. 2
Either less component or there is the configuration different from shown in Fig. 2.Each component shown in Fig. 2 can use hardware, software
Or its combination is realized.
As in a kind of embodiment, the GCU 100 can also be by multiple single but communication connection
Equipment form, such as, the GCU 100 can include for processing data data handling machine and be used for
Flight control display device of display information etc..
Fig. 3 is refer to, Fig. 3 is the block diagram of unmanned plane 200 in Fig. 1.The unmanned plane 200 can be, but unlimited
In fixed-wing unmanned plane, rotor wing unmanned aerial vehicle, flapping wing unmanned plane etc..The unmanned plane 200 can include flight control computer, described
Flight control computer can include the second flight control parameter on-line tuning system 400, the storage control of second memory 210, second
Device 220 and second processor 230.
The second flight control parameter on-line tuning system 400 can include at least one in the form of software or firmware
The software function module being stored in the second memory 210.
Wherein, the second memory 210, the second storage control 220 and second processor 230 and first in Fig. 2
The hardware configuration of memory 110, the first storage control 120 and first processor 130 is identical, just no longer introduces one by one herein.
The unmanned plane 200 can also include flying control steering engine controller, Fei Kong executing agencies and airframe.The winged control
Computer runs the second flight control parameter on-line tuning system 400 and flies control program, carries out Flight Control Law resolving, raw
Instructed into control law.Fly control steering engine controller then by the instruction morphing control signal that can perform for Fei Kong executing agencies of control law
(such as pulse-width signal).After Fei Kong executing agencies (such as controlled motor) receive control signal, unmanned plane 200 is driven
Flight control rudder face or associated mechanisms (such as propeller) operation.Hereby it is achieved that the flight control to unmanned plane 200.
First embodiment
Fig. 4 is refer to, Fig. 4 is the schematic flow sheet for the flight control parameter method of adjustment that first embodiment of the invention provides
One of.Methods described is applied to the GCU 100 and unmanned plane 200 of communication connection.Wherein, in the unmanned plane 200
It is loaded with Flight Control Law.The idiographic flow of flight control parameter method of adjustment is described in detail below.
Step S120, the GCU 100 receive the operation being modified to flight control parameter.
In the present embodiment, unmanned plane inner and outer rings are shown on the human-computer interaction interface of the GCU 100 to fly
Row control parameter list.When needing the flight control parameter used current to Flight Control Law to be modified, user can be right
The GCU 100 carries out following operate：Selection needs the flight changed in the flight control parameter list of display
Control parameter, and the flight control parameter of selection is modified.The GCU 100 receives and responds above-mentioned behaviour
Make.
Step S130, the GCU 100 carry out legitimacy inspection to the flight control parameter after change.
In the present embodiment, the GCU 100 joins the flight control parameter after change and flight control
Type corresponding to number and scope are compared.If the type of the flight control parameter after change is corresponding with the flight control parameter
Type is consistent, and the value of the flight control parameter after change then can be determined that in scope corresponding with the flight control parameter
Flight control parameter after change is legal.If the type class corresponding with the flight control parameter of the flight control parameter after change
Type is inconsistent, and/or change after flight control parameter value not in scope corresponding with the flight control parameter when, judge
Flight control parameter after change is illegal.It is legal that the flight control parameter after change is carried out by GCU 100
Property examine, avoid artificially adjusting flight control parameter mistake, so as to waste of resource.
Step S140, the GCU 100, will when the flight control parameter after judging the change is legal
Flight control parameter after change is sent to the unmanned plane 200.
In the present embodiment, change of the legal sign of flight control parameter to flight control parameter after change has passed through ground
Flight control parameter after change can be sent to the nothing by the inspection of face control device 100, the GCU 100
Man-machine 200, to complete the on-line tuning to flight control parameter.
Step S150, the unmanned plane 200 receive the flight control parameter after the change, and to the flight control after change
Parameter processed carries out legitimacy inspection.
In the present embodiment, the unmanned plane 200 carries out legitimacy inspection to the flight control parameter after the change of reception.
The unmanned plane 200 enters according to the flight control parameter after change and the influence factor such as the flying quality of unmanned plane 200 and stability
Row analysis, so as to judge whether the flight control parameter after change is legal.Divided by GCU 100 and unmanned plane 200
The other flight control parameter to after change carries out legitimacy inspection, it is ensured that the legitimacy of the flight control parameter after change,
The processing only by being brought during the progress legitimacy inspection of certain one end (GCU 100 or unmanned plane 200) can be mitigated simultaneously
Risk.
Step S160, the unmanned plane 200 is when the flight control parameter after judging the change is legal, after change
Flight control parameter substitute into the Flight Control Law and resolved, flight controlled quentity controlled variable is generated, to control the unmanned plane 200 to fly
OK.
In the present embodiment, flight control parameter after change is legal characterize the unmanned plane 200 can according to it is described more
Flight of the flight control parameter to unmanned plane 200 after changing is controlled.Flight after change is controlled ginseng by the unmanned plane 200
Number substitutes into control law and calculated, so as to obtain the flight controlled quentity controlled variable that unmanned plane 200 can be controlled to fly.
The Flight Control Law can include Flight Control Law structure and flight control parameter.At present, the unmanned plane 200
Flight Control Law generation flight controlled quentity controlled variable typically according to real-time flight data and including immutable flight control parameter.In this reality
Apply in example, the flight control parameter in the Flight Control Law is variable, can by carrying out on-line tuning to the flight control parameter
Online change of flight control law, without carrying out regenerating and loading for the airborne code of flight control system.
Fig. 5 is refer to, Fig. 5 is that the flow for the flight control parameter on-line tuning method that first embodiment of the invention provides is shown
The two of intention.Methods described can also include step S110.
Step S110, the GCU 100 creates the Flight Control Law, and the Flight Control Law is loaded
To the unmanned plane 200.
In the present embodiment, the GCU 100 is when creating Flight Control Law, by the Flight Control Law
Flight control parameter be arranged to variable.Variable flight control parameter can be sent according to the GCU 100
Flight control parameter carry out on-line tuning.The unmanned plane 200 is according to the flight control parameter after adjustment to Flight Control Law
Resolved.
In the embodiment of the present embodiment, the Flight Control Law that the GCU 100 creates includes initial fly
Row control parameter, after the Flight Control Law of establishment is loaded onto unmanned plane 200 by the GCU 100, in unmanned plane 200
Flight Control Law resolved according to initial flight control parameter, and according to the flight controlled quentity controlled variable of generation control unmanned plane 200
Flight.When needing to be adjusted the flight control parameter that current flight control law uses, due in the Flight Control Law
Flight control parameter it is variable, therefore according to actual conditions the flight control parameter that adjusts can will be needed to be modified online,
Flight control parameter after change is then substituted into Flight Control Law and resolved by the unmanned plane 200, generates flight controlled quentity controlled variable, with
Control the flight of unmanned plane 200.
Fig. 6 is refer to, Fig. 6 is that the flow for the flight control parameter on-line tuning method that first embodiment of the invention provides is shown
The three of intention.Methods described can also include step S145.Flight of the GCU 100 after the change is judged
When control parameter is illegal, step S145 is performed.
Step S145, the illegal prompt message of flight control parameter after display change.
In the present embodiment, when the flight control parameter after judging the change is illegal, the GCU
A prompt message can be shown on 100 human-computer interaction interface, to inform that the flight control parameter after user's change is illegal, with
It is easy to user to carry out the adjustment of flight control parameter again or abandon being adjusted flight control parameter.
Referring once again to Fig. 6, methods described can also include step S165.The unmanned plane 200 is judging the change
When flight control parameter afterwards is illegal, step S165 is performed.
Step S165, Flight Control Law resolving is carried out with the flight control parameter before change, and set to ground control
Standby 100 send warning message.
In the present embodiment, for the unmanned plane 200 when the flight control parameter after judging to change is illegal, refusal will more
Flight control parameter after changing substitutes into Flight Control Law.The unmanned plane 200 carries out flight control with original flight control parameter
System rule resolves and controls the unmanned plane 200 to fly.Further, the unmanned plane 200 will can also fly after the change
The illegal warning message of row control parameter is sent to the GCU 100, and the GCU 100 will alarm
Information is shown to inform user.For example the human-computer interaction interface of the GCU 100 ejects a dialog box, institute
Stating dialog box content includes the warning message.
Referring once again to Fig. 6, methods described can also include step S170 and step S180.
The flight control parameter that current flight control law uses is sent to described by step S170, the unmanned plane 200
Face control device 100.
In the present embodiment, the flight control parameter that current flight control law uses is sent to institute by the unmanned plane 200
State GCU 100.If the flight control parameter after the change is legal, the flight that current flight control law uses controls
Parameter is then the flight control parameter after change.If the flight control parameter after the change is illegal, current flight control law
The flight control parameter used is then the flight control parameter before change.
Step S180, the GCU 100 are shown to changing forward and backward flight control parameter.
In the present embodiment, the GCU 100 is controlled the flight after before changing by human-computer interaction interface
Parameter is shown.The display mode of flight control parameter after the display mode of flight control parameter before changing and change is not
Together.When flight control parameter after change is illegal, the flight control parameter after being changed due to the unmanned plane 200 refusal,
Therefore before changing after flight control parameter can be with identical.The GCU 100 can be to the flight control after before changing
Parameter processed carries out different displays.For example shown flight control parameter before changing using in general mode, for nothing
Man-machine 200 current flight control parameter can then be shown using the mode of flicker, it is possible thereby to inform that user currently flies
The flight control parameter that row control law uses.
Fig. 7 is refer to, Fig. 7 is that the flow for the flight control parameter on-line tuning method that first embodiment of the invention provides is shown
The four of intention.The human-computer interaction interface of the display unit includes multiple information areas, and methods described can also include step
S102。
Step S102, the GCU 100 is classified the information for needing to show, and is existed according to classification results
Different information areas on human-computer interaction interface are shown to sorted information.
In the present embodiment, the human-computer interaction interface of the GCU 100 needs to show inner ring flight control ginseng
The information such as number, outer shroud flight control parameter, offline mode.The information for needing to show is classified, and will according to classification results
Information is shown in different information areas.
In the embodiment of the present embodiment, the multiple information area can include at least one information display area and
At least one operational control region.Wherein, information display area is used to show inner ring flight control parameter, outer shroud flight control ginseng
The information such as number, operational control region are used to receive user's operation and enter information (such as operating result) corresponding with the operation
Row display.For example user is manipulated by region change offline mode, operational control region then receives the change operation of user
And the offline mode after change is shown.Therefore, the human-computer interaction interface can provide the user directly perceived, clear and definite number
According to display, it is easy to user to be operated so that man-machine interaction is more efficiently, simply.
Referring once again to Fig. 7, methods described also includes step S101.Step S101, the GCU 100 configure
Positional information of multiple information areas in the human-computer interaction interface.
Wherein, the positional information includes position, size or the shape of information area, and multiple information areas include automatic fly
Row air route control area 141, offline mode control area 142, inner ring flight control parameter viewing area 143, outer shroud flight control
Parameter display area domain 144 processed and flight control parameter change region 145.
Wherein, automatic flight route control area 141, offline mode control area 142, flight control parameter change region
145 are operations described above control area, and inner ring flight control parameter viewing area 143, outer shroud flight control parameter show
It is then information display area described above to show region 144.
Fig. 8 is refer to, Fig. 8 is the schematic diagram for the human-computer interaction interface that first embodiment of the invention provides.In the present embodiment
In, the human-computer interaction interface includes left side human-computer interaction interface and right side human-computer interaction interface.The automatic flight route control
Region 141 and offline mode control area 142 processed are configured in the left side human-computer interaction interface, the offline mode control area
142 configurations are in the downside of the automatic flight route control area 141.
Wherein, the automatic flight route control area 141 is used to quickly generate, is loaded into full-automatic flight route instruction,
And the instruction of full-automatic flight route is loaded onto unmanned plane 200.
The offline mode control area 142 is used to automatically control carry out offline mode according to the operation of reception or program
Switching control.Offline mode includes lock locking/unlocking, preliminary examination, artificial, full-automatic, semi-automatic etc..
Inner ring flight control parameter viewing area 143, outer shroud flight control parameter viewing area 144 and flight control parameter
Change region 145 configures to be configured in institute in the right side human-computer interaction interface, the inner ring flight control parameter viewing area 143
The top of right side human-computer interaction interface is stated, the flight control parameter change region 145 is configured in right side human-computer interaction interface
Bottom, the outer shroud flight control parameter viewing area 144 are configured in the inner ring flight control parameter viewing area 143 with flying
Between row control parameter change region 145.
Wherein, the inner ring flight control parameter viewing area 143 is used for all parameters for showing inner ring Flight Control Law
Title and parameter value etc..Inner ring flight control parameter can include unmanned plane pitching, the posture PID of three passages of rolling and driftage
Control parameter or other types control parameter etc..
The outer shroud flight control parameter viewing area 144 be used for show outer shroud Flight Control Law all parameter names and
Parameter value etc..Outer shroud flight control parameter can include the PID control ginseng such as unmanned plane position (lat/longitude), height and speed
Number or other types control parameter etc..
In the embodiment of the present embodiment, the inner ring flight control parameter viewing area 143 and outer shroud flight control
Parameter display area domain 144 not only shows the Flight Control Law parameter values of the init state of unmanned plane 200, while can be with fixation
Frequency shows Flight Control Law parameter values used by the resolving of current flight control law, can be made by different display modes
User intuitively obtain before changing after flight control parameter.
The flight control parameter changes region 145, for user is selected it is expected the inner ring flight control parameter of modification,
Parameter name, parameter value and type of outer shroud flight control parameter etc., so that the GCU 100 completes flight control
The modification of the parameter value of parameter and data are sent.
Second embodiment
Fig. 9 is refer to, Fig. 9 is the first flight control parameter on-line tuning system 300 that second embodiment of the invention provides
Block diagram.The first flight control parameter on-line tuning system 300 is applied to the ground communicated to connect with unmanned plane 200
Face control device 100.First flight control parameter on-line tuning system 300 can include the first receiving module 320, first and examine
Module 330, the first sending module 340.
First receiving module 320, for receiving the operation being modified to flight control parameter.
In the present embodiment, first receiving module 320 is used to perform the step S120 in Fig. 4, on described first
The specific descriptions of receiving module 320 are referred to the detailed description of step S120 in Fig. 4.
First inspection module 330, for carrying out legitimacy inspection to the flight control parameter after change.
In the present embodiment, first inspection module 330 is used to perform the step S130 in Fig. 4, on described first
The specific descriptions of inspection module 330 are referred to the detailed description of step S130 in Fig. 4.
First sending module 340, for the flight control parameter after judging the change for it is legal when, after change
Flight control parameter is sent to the unmanned plane 200.
In the present embodiment, first sending module 340 is used to perform the step S140 in Fig. 4, on described first
The specific descriptions of sending module 340 are referred to the detailed description of step S140 in Fig. 4.
Referring once again to Fig. 9, the first flight control parameter on-line tuning system 300 can also include creation module
310。
Creation module 310, the unmanned plane 200 is loaded onto for creating Flight Control Law, and by the Flight Control Law.
Wherein, variable flight control parameter, the variable flight control parameter are provided with the Flight Control Law
The flight control parameter sent according to the GCU 100 carries out on-line tuning.
In the present embodiment, the creation module 310 is used to perform the step S110 in Fig. 5, on the creation module
310 specific descriptions are referred to the detailed description of step S110 in Fig. 5.
Referring once again to Fig. 9, the first flight control parameter on-line tuning system 300 can also include display module
302。
Display module 302, for being shown to changing forward and backward flight control parameter simultaneously.
Wherein, the display side of the flight control parameter after the display mode of state of flight control parameter before changing and change
Formula is different.
In the present embodiment, the display module 302 is used to perform the step S102 in Fig. 7, on the display module
302 specific descriptions are referred to the detailed description of step S102 in Fig. 7.
3rd embodiment
Figure 10 is refer to, Figure 10 is the second flight control parameter on-line tuning system that third embodiment of the invention provides
400 block diagram.The second flight control parameter on-line tuning system 400 is applied to logical with GCU 100
Believe the unmanned plane 200 of connection.The second flight control parameter on-line tuning system 400 can include the second receiving module 410
And control module 420.
Second receiving module 410, for receiving the flight control parameter after changing, and to the flight control parameter after change
Carry out legitimacy inspection.
In the present embodiment, second receiving module 410 is used to perform the step S150 in Fig. 4, on described second
The specific descriptions of receiving module 410 are referred to the detailed description of step S150 in Fig. 4.
Control module 420, for the flight control parameter after judging the change for it is legal when, by the flight after change
Control parameter substitutes into the Flight Control Law and resolved, and flight controlled quentity controlled variable is generated, to control the unmanned plane 200 to fly.
In the present embodiment, the control module 420 is used to perform the step S160 in Fig. 4, on the control module
420 specific descriptions are referred to the detailed description of step S160 in Fig. 4.
Referring once again to Figure 10, the second flight control parameter on-line tuning system 400 can also include second and send
Module 430.
Second sending module 430, the flight control parameter for current flight control law to be used are sent to the ground
Control device 100.
In the present embodiment, second sending module 430 is used to perform the step S170 in Fig. 6, on described second
The specific descriptions of sending module 430 are referred to the detailed description of step S170 in Fig. 6.
In summary, the present invention provides a kind of flight control parameter on-line tuning method and system.Methods described is applied to
The unmanned plane and GCU of communication connection.Wherein, it is loaded with Flight Control Law in the unmanned plane.The control is set
After the operation being modified to current flight control parameter is received, examine the flight control parameter after change whether legal, and
When the flight control parameter after judging to change is legal, the flight control parameter after change is sent to the unmanned plane.Institute
Unmanned plane is stated after the flight control parameter after changing is received, legitimacy inspection is carried out to the flight control parameter after change, and
When the flight control parameter after judging to change is legal, the flight control parameter after the change of reception is substituted into the flight and controlled
Rule processed is resolved.The flight controlled quentity controlled variable that the unmanned plane resolves generation according to Flight Control Law controls flight.Thus, at nobody
In machine flight course, online, adjustment in real time can be carried out to flight control parameter, effectively reduces Approaches for Modern Flight Control Law Development process
In numerous and diverse and repetitive work, R＆D costs are saved while test flight efficiency is improved, are advantageous to flight control system
The fast and efficiently research and development of system.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (12)
- A kind of 1. flight control parameter on-line tuning method, it is characterised in that the unmanned plane of application communication connection and ground control Equipment, Flight Control Law is loaded with the unmanned plane, methods described includes：The GCU receives the operation being modified to flight control parameter；The GCU carries out legitimacy inspection to the flight control parameter after change；The GCU controls the flight after change when the flight control parameter after judging the change is legal Parameter is sent to the unmanned plane；The unmanned plane receives the flight control parameter after the change, and carries out legitimacy to the flight control parameter after change Examine；The unmanned plane is when the flight control parameter after judging the change is legal, by the flight control parameter generation after change Enter the Flight Control Law to be resolved, flight controlled quentity controlled variable is generated, to control the unmanned plane during flying.
- 2. according to the method for claim 1, it is characterised in that received in the GCU to flight control parameter Before the step of operation being modified, methods described also includes：The GCU creates the Flight Control Law, and the Flight Control Law is loaded onto into the unmanned plane, its In, variable flight control parameter is provided with the Flight Control Law, the variable flight control parameter is according to described The flight control parameter that face control device is sent carries out on-line tuning, and the unmanned plane is according to the flight control parameter pair after adjustment Flight Control Law is resolved.
- 3. according to the method for claim 1, it is characterised in that methods described also includes：The GCU is when the flight control parameter after judging the change is illegal, the flight control after display change The illegal prompt message of parameter processed.
- 4. according to the method for claim 1, it is characterised in that methods described also includes：The unmanned plane is entered when the flight control parameter after judging the change is illegal with the flight control parameter before change Row Flight Control Law resolves, and sends warning message to the GCU.
- 5. according to the method for claim 1, it is characterised in that methods described also includes：The flight control parameter that current flight control law uses is sent to the GCU by the unmanned plane；The GCU shows simultaneously to changing forward and backward flight control parameter, wherein, flight shape before changing The display mode of state control parameter is different from the display mode of the flight control parameter after change.
- 6. according to the method for claim 1, it is characterised in that the GCU includes a human-computer interaction interface, The human-computer interaction interface includes multiple information areas, and methods described also includes：The GCU is classified the information for needing to show, and according to classification results on human-computer interaction interface Different information areas are shown to sorted information.
- 7. according to the method for claim 6, it is characterised in that methods described also includes：The GCU configures positional information of multiple information areas in the human-computer interaction interface,Wherein, the positional information includes position, size or the shape of information area, and multiple information areas include automatic flight and navigated Road control area, offline mode control area, inner ring flight control parameter viewing area, outer shroud flight control parameter viewing area And flight control parameter change region；The human-computer interaction interface includes left side human-computer interaction interface and right side human-computer interaction interface；The automatic flight route control area and offline mode control area configuration is described in the left side human-computer interaction interface The configuration of offline mode control area is in the downside of the automatic flight route control area；Inner ring flight control parameter viewing area, outer shroud flight control parameter viewing area and flight control parameter change region are matched somebody with somebody Put in the right side human-computer interaction interface, the inner ring flight control parameter viewing area configuration is in right side man-machine interaction circle The top in face, the flight control parameter change region configuration is in the bottom of right side human-computer interaction interface, the outer shroud flight control Parameter display area configuration of territory processed is between the inner ring flight control parameter viewing area and flight control parameter change region.
- 8. a kind of flight control parameter on-line tuning system, it is characterised in that applied to the ground control being connected with UAV Communication Control equipment, the system include：First receiving module, for receiving the operation being modified to flight control parameter；First inspection module, for carrying out legitimacy inspection to the flight control parameter after change；First sending module, for the flight control parameter after judging the change for it is legal when, by the flight control after change Parameter processed is sent to the unmanned plane.
- 9. system according to claim 8, it is characterised in that the system also includes：Creation module, the unmanned plane is loaded onto for creating Flight Control Law, and by the Flight Control Law, wherein, it is described Variable flight control parameter is provided with Flight Control Law, the variable flight control parameter is set according to ground control The flight control parameter that preparation is sent carries out on-line tuning.
- 10. system according to claim 8, it is characterised in that the system also includes：Display module, for being shown to changing forward and backward flight control parameter simultaneously, wherein, state of flight before changing The display mode of control parameter is different from the display mode of the flight control parameter after change.
- 11. a kind of flight control parameter on-line tuning system, it is characterised in that applied to what is communicated to connect with GCU Unmanned plane, Flight Control Law is loaded with the unmanned plane, the system includes：Second receiving module, for receiving the flight control parameter after changing, and the flight control parameter after change is closed Method is examined；Control module, for when the flight control parameter after judging the change is legal, the flight after change to be controlled into ginseng Number substitutes into the Flight Control Law and resolved, and flight controlled quentity controlled variable is generated, to control the unmanned plane during flying.
- 12. system according to claim 11, it is characterised in that the system also includes：Second sending module, the flight control parameter for current flight control law to be used are sent to the ground control and set It is standby.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800006.0A CN107544529A (en) | 2017-09-07 | 2017-09-07 | Flight control parameter on-line tuning method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710800006.0A CN107544529A (en) | 2017-09-07 | 2017-09-07 | Flight control parameter on-line tuning method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107544529A true CN107544529A (en) | 2018-01-05 |
Family
ID=60958581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710800006.0A Pending CN107544529A (en) | 2017-09-07 | 2017-09-07 | Flight control parameter on-line tuning method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107544529A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113990109A (en) * | 2020-07-10 | 2022-01-28 | 通用电气航空系统有限公司 | Method and system for updating a flight plan |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354208A (en) * | 2011-09-06 | 2012-02-15 | 中国科学院长春光学精密机械与物理研究所 | Debugging device for flight test of unmanned aerial vehicle |
| CN102707725A (en) * | 2012-06-12 | 2012-10-03 | 桂林飞宇电子科技有限公司 | Fixed-wing automatic navigation flight control system and using method thereof |
| KR20140073915A (en) * | 2012-12-07 | 2014-06-17 | 한국항공우주산업 주식회사 | Control Modeling Device for UAV Flight Software using Model-Based Flight Control Law Auto-Code and Controlling Method for the Same |
| CN104181927A (en) * | 2014-06-26 | 2014-12-03 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Flight control law management method and device |
| CN105487518A (en) * | 2015-12-31 | 2016-04-13 | 江苏首控制造技术有限公司 | Four-axis unmanned-aerial-vehicle flight control system |
-
2017
- 2017-09-07 CN CN201710800006.0A patent/CN107544529A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102354208A (en) * | 2011-09-06 | 2012-02-15 | 中国科学院长春光学精密机械与物理研究所 | Debugging device for flight test of unmanned aerial vehicle |
| CN102707725A (en) * | 2012-06-12 | 2012-10-03 | 桂林飞宇电子科技有限公司 | Fixed-wing automatic navigation flight control system and using method thereof |
| KR20140073915A (en) * | 2012-12-07 | 2014-06-17 | 한국항공우주산업 주식회사 | Control Modeling Device for UAV Flight Software using Model-Based Flight Control Law Auto-Code and Controlling Method for the Same |
| CN104181927A (en) * | 2014-06-26 | 2014-12-03 | 中国商用飞机有限责任公司北京民用飞机技术研究中心 | Flight control law management method and device |
| CN105487518A (en) * | 2015-12-31 | 2016-04-13 | 江苏首控制造技术有限公司 | Four-axis unmanned-aerial-vehicle flight control system |
Non-Patent Citations (2)
| Title |
|---|
| 刘龑: "无人机地面控制站的设计与开发", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
| 卢艳军 等: "无人机地面站发展的分析研究", 《沈阳航空航天大学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113990109A (en) * | 2020-07-10 | 2022-01-28 | 通用电气航空系统有限公司 | Method and system for updating a flight plan |
| US11887487B2 (en) | 2020-07-10 | 2024-01-30 | Ge Aviation Systems Limited | Method and system for the updating of a flight plan |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107784152B (en) | Simulation comprising a plurality of simulators | |
| CN108983756B (en) | Avionics flight control system ground comprehensive debugging and verification platform | |
| US8606538B2 (en) | Method of testing an electronic system | |
| US9469417B2 (en) | System and method for fault diagnosis of aircraft | |
| CN111176999B (en) | Test platform construction method and test method of unmanned aerial vehicle flight control management software | |
| CN112937914B (en) | Ground simulation instruction processing method for aircraft complete machine test | |
| EP3417441A1 (en) | Simulation server and lesson plan events based on simulation data | |
| CN107544529A (en) | Flight control parameter on-line tuning method and system | |
| US8556162B2 (en) | Component programming system | |
| US20190073841A1 (en) | Method for testing the integrity of the avionics of an aircraft, associated device and computer program product | |
| CN107526865A (en) | The modeling method towards CPS based on AADL | |
| KR101976542B1 (en) | Method and system for controlling simulation via avionics simulation model | |
| CN111563324A (en) | Flight control system simulation method, flight control system simulation platform, flight control system simulation server and storage medium | |
| US20220269593A1 (en) | Automatic generation of integrated test procedures using system test procedures | |
| CN106776268B (en) | Display control software and hardware system reliability test excitation method based on profile mapping | |
| CN106019021B (en) | The universal test tooling and its test method of testing for electrical equipment device | |
| US8244413B2 (en) | Secure command method and device for remote maintenance terminal | |
| US11561873B2 (en) | Test equipment interface add-on having a production support equipment module and a selectively removable test support equipment module | |
| CN112612297A (en) | Airworthiness verification system and method for civil aircraft automatic flight control system | |
| CN112860570A (en) | Software and hardware hybrid system combined test profile construction method based on combined test | |
| US8583316B2 (en) | Checking of a communication system for an aircraft under development | |
| Werthwein et al. | Using electronic data sheets for an automatic detection of peripheral devices in a smart wing’s digital infrastructure | |
| CN113359830B (en) | Method, system, terminal and medium for formation flying unified fleet flying relative height | |
| CN113867173B (en) | Unmanned aerial vehicle centralized cluster type hardware-in-loop simulation system and method | |
| An et al. | The Integration Development Platform and Application of the Avionics System Based on the Model-Driven |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180105 |
|
| RJ01 | Rejection of invention patent application after publication |