CN107942720A - A kind of online flight Simulation System of portable type ground - Google Patents
A kind of online flight Simulation System of portable type ground Download PDFInfo
- Publication number
- CN107942720A CN107942720A CN201710914171.9A CN201710914171A CN107942720A CN 107942720 A CN107942720 A CN 107942720A CN 201710914171 A CN201710914171 A CN 201710914171A CN 107942720 A CN107942720 A CN 107942720A
- Authority
- CN
- China
- Prior art keywords
- simulation
- computer
- management service
- data
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The present invention discloses a kind of online flight Simulation System of portable type ground, including console computer, simulation computer, hub and airborne equipment, the console computer is connected by Ethernet with simulation computer, the hub by cable respectively with simulation computer with and airborne equipment be connected, the console computer is a high performance PC machine, controlled for simulation process, emulation data are shown, emulate data display record, unmanned plane initial parameter is set, wind field environment injects and fault model injection, the simulation computer is an embedded computer, for unmanned plane mathematical model real-time resolving, sensor real-time simulation, wind-field model resolves, fault model resolves, physical electrical interface is simulated, the electrical connection that the hub is used for simulation computer and airborne equipment is allocated.The present invention by efficient, safety, economy, it is comprehensive in a manner of check UAV system, ensure the flight safety of unmanned plane, the correctness and reasonability of comprehensive verification UAV system, UAV system data is provided for pilot, without building iron bird testing stand, expense is low, good economy performance, cycle is short, and each piece volumes friendship is small, is moved easily.
Description
Technical field
The invention belongs to computer simulation technique field, more particularly to a kind of online flight Simulation System of portable type ground.
Background technology
The world today, with aircraft autonomy-oriented, is intelligently continuously improved, unmanned plane is more and more frequently used in battlefield
The tasks such as scouting, monitoring and attack, are increasingly becoming in war a kind of essential efficient air armament.In order to save development expense
With speed is developed in quickening, and reduction takes a flight test risk, it is necessary to necessary l-G simulation test be carried out, to ensure unmanned plane during flying safety.
At present, research and development unit mainly uses semi-physical simulation both at home and abroad, verifies the correctness of Airborne Software.However,
Based on mathematical model driving semi-physical simulation cannot effectively simulation unmanned plane avionics, electromechanics, fly control, dynamical system it is comprehensive
The collaborative work response after crosslinking is closed, the failure particularly occurred on machine, can not occur or reappear in laboratory, UAV system
State cannot completely examine, for this reason, some research and development units just build the iron bird testing stand consistent with true airborne circumstance, examine
UAV system state, but the equipment state of iron bird testing stand can not ensure constantly with airborne equipment state consistency, and build
The expense of iron bird testing stand is excessive, and economy is bad, cycle length, also without mobility.
The content of the invention
It is an object of the invention to overcome the above-mentioned problems in the prior art, there is provided a kind of portable type ground flies online
Row analogue system, is connected with true airborne equipment, and the correctness and reasonability of comprehensive verification UAV system, expense is low, economical
Property is good, and the cycle is short, has mobility.
To achieve the above object, the technical solution adopted by the present invention is as follows.
A kind of online flight Simulation System of portable type ground, it is characterised in that：Including console computer, simulation calculation
Machine, hub and airborne equipment, the console computer are connected by Ethernet with simulation computer, and the hub passes through
Cable respectively with simulation computer with and airborne equipment be connected, the console computer is a high performance PC machine, is used for
Simulation process control, emulation data show, emulate data display record, unmanned plane initial parameter setting, wind field environment inject and
Fault model injects, and the simulation computer is an embedded computer, for unmanned plane mathematical model real-time resolving, sensing
Device real-time simulation, wind-field model resolve, fault model resolves, the simulation of physical electrical interface, and the hub is based on to emulation
The electrical connection of calculation machine and airborne equipment is allocated.
The simulation computer includes bus board, power conversion plate, mainboard, Serial Communication Function plate, 1553B bus functionalities
Plate, analog signal input/output function plate and switching signal input/output function plate.
Simulation management software is installed, the simulation management software is in turn divided into link pipe in the console computer
Manage service layer, data management service layer, simulation management service layer and human-computer interaction layer.
The data management service layer includes sensing data management service interface, servo actuator data management service connects
Mouth, engine data management service interface, subsystem data management service interface, body model and atmospheric wind environmental data pipe
Service interface and emulation data management service interface are managed, the simulation management service layer includes corresponding with data management service layer
Sensor Simulation management connects with control service interface, servo actuator simulation management service interface, engine simulation management service
Mouth, subsystem simulation management service interface, body model and atmospheric wind environmental simulation and control service interface and simulation process
Management service interface.
Simulation software is installed, the simulation software includes sensor Simulation, unmanned plane body in the simulation computer
Emulation, servo actuator emulation and each subsystem emulation of unmanned plane.
1st, simulation process control carries out simulation computer using Ethernet by console computer, emulation data are shown, imitative
True data display record, unmanned plane initial parameter are set, the injection of wind field environment and fault model are injected, and simulation computer is to nobody
Machine mathematical model real-time resolving, sensor real-time simulation, wind-field model resolves, fault model resolves, the simulation of physical electrical interface,
And be connected with hub, hub is communicated using cable with airborne equipment, in the mistake of ground simulation unmanned plane airflight
Journey, by it is a kind of it is more efficient, safer, more economical, more fully in a manner of check UAV system, ensure the flight peace of unmanned plane
Entirely, the correctness and reasonability of comprehensive verification UAV system, provides UAV system data, without building iron bird for pilot
Testing stand, expense is low, and good economy performance, the cycle is short, and each piece volumes friendship is small, is moved easily.
2nd, by the way that bus board, power conversion plate, mainboard, Serial Communication Function plate, 1553B bus functionalities plate, simulation are believed
Number input/output function plate and switching signal input/output function plate integrate within one device, easy to remove and transport.
3rd, module hierarchical structure is used by simulation management software, realize the data acquisition of analogue system, data analysis,
Data are shown, data store and program debugging.
4th, the function process of simulation management service layer is called by human-computer interaction interface, by body model parameter and air wind
Field environmental parameter, sensor Simulation control, servo actuator Simulation Control, engine Simulation Control and simulation process manipulation instruction
It is sent to the interface module of simulation management service layer, after the interface module of simulation management service layer receives manipulation instruction, starts
Sensor or the function module such as servo actuator direct fault location and monitoring or data management, pass through each data management service layer
Interface module sets sensor Simulation, servo actuator emulation, engine emulation, body model and atmospheric wind environmental parameter
After management or control instruction with simulation process are packed according to communication protocol coding, Link Manager layer service module is called, by number
According to simulation computer is transferred to, the simulation process control to simulation computer is realized.
5th, the function process of simulation management service layer is called by human-computer interaction interface, by body model parameter and air wind
Field environmental parameter, sensor Simulation control, servo actuator Simulation Control, engine Simulation Control and simulation process manipulation instruction
It is sent to the interface module of simulation management service layer, after the interface module of simulation management service layer receives manipulation instruction, starts
Sensor or the function module such as servo actuator direct fault location and monitoring or data management, pass through each data management service layer
Interface module sets sensor Simulation, servo actuator emulation, engine emulation, body model and atmospheric wind environmental parameter
After management or control instruction with simulation process are packed according to communication protocol coding, Link Manager layer service module is called, by number
According to simulation computer is transferred to, the simulation process control to simulation computer is realized.
6th, the development process of simulation software, the real-time and function accuracy of Safeguard Simulation are passed through.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is simulation computer structure diagram of the present invention.
Fig. 3 is simulation management software configuration schematic diagram of the present invention.
Fig. 4 is each module connection diagram of simulation software of the present invention.
Fig. 5 is simulation software structure diagram of the present invention.
Marked in figure, 1, console computer, 2, simulation computer, 3, hub, 4, airborne equipment, 5, bus board, 6,
Power conversion plate, 7, mainboard, 8, Serial Communication Function plate, 9,1553B bus functionality plates, 10, analog signal input/output function
Plate, 11, switching signal input/output function plate, 12, link management service layer, 13, data management service layer, 14, simulation management
Service layer, 15, human-computer interaction layer, 16, sensing data management service interface, 17, servo actuator data management service interface,
18th, engine data management service interface, 19, subsystem data management service interface, 20, body model and atmospheric wind environment
Data management service interface, 21, emulation data management service interface, 22, sensor Simulation management with control service interface, 23,
Servo actuator simulation management service interface, 24, engine simulation management service interface, 25, subsystem simulation management service connects
Mouthful, 26, body model and atmospheric wind environmental simulation and control service interface, 27, simulation process management service interface, 28, imitative
True software includes sensor Simulation, and 29, the emulation of unmanned plane body, 30, servo actuator emulation, each subsystem of 31 unmanned planes is imitated
Very.
Embodiment
The present invention is described further below in conjunction with the accompanying drawings.
Embodiment 1
As shown in Figure 1, a kind of online flight Simulation System of portable type ground, including console computer 1, simulation computer 2, collection
Line device 3 and airborne equipment 4, the console computer 1 are connected by Ethernet with simulation computer 2, and the hub 3 passes through
Cable respectively with simulation computer 2 with and airborne equipment 4 be connected, the console computer 1 is a high performance PC machine, use
In simulation process controls, emulation data are shown, emulates data display record, unmanned plane initial parameter is set, wind field environment injects
With fault model inject, the simulation computer 2 is an embedded computer, for unmanned plane mathematical model real-time resolving,
Sensor real-time simulation, wind-field model resolve, fault model resolves, the simulation of physical electrical interface, and the hub 3 is used for imitative
Genuine computer 2 and the electrical connection of airborne equipment 4 are allocated.
Console computer 1 is a high performance PC machine, simulation process control is mainly realized, for simulation process control
System, emulation data show, emulate data display record, the setting of unmanned plane initial parameter, the injection of wind field environment and fault model note
Enter, be connected by Ethernet with simulation computer 2, control the simulation process of simulation computer；Simulation computer 2 is removably
The core of the online flight Simulation System in face, is an embedded computer, for unmanned plane mathematical model real-time resolving, sensor
Real-time simulation, wind-field model resolve, fault model resolves, the simulation of physical electrical interface, the instruction of console computer 1, in real time
Resolve, by data feedback to console computer 1, and data are sent to the airborne equipment 4 of unmanned plane by hub 3；It is described
Hub 3 is used to be allocated simulation computer 2 and the electrical connection of airborne equipment 4, is controlled by flying to unmanned aerial vehicle onboard
System calculates signal with management and integrated management Computer signal is classified, recombinated, switched, and can be connected respectively to simulation calculation
The signal type corresponding with 4 cable of airborne equipment of unmanned plane of machine 2, completes the connection of system electrical signal, and the present invention passes through control
Platform computer 1 processed carries out simulation computer 2 simulation process control using Ethernet, emulation data are shown, emulate data shows
Record, unmanned plane initial parameter are set, the injection of wind field environment and fault model are injected, and simulation computer 2 is to unmanned plane mathematical modulo
Type real-time resolving, sensor real-time simulation, wind-field model resolves, fault model resolves, the simulation of physical electrical interface, and and line concentration
Device connects, and hub communicated using cable with airborne equipment, in the process of ground simulation unmanned plane airflight, with one kind
More efficient, safer, more economical, more fully mode checks UAV system, ensures the flight safety of unmanned plane, comprehensive verification
The correctness and reasonability of UAV system, provide UAV system data, without building iron bird testing stand, expense for pilot
Low, good economy performance, the cycle is short, and each piece volumes friendship is small, is moved easily.
Embodiment 2
As shown in Figure 1, a kind of online flight Simulation System of portable type ground, including console computer 1, simulation computer 2, collection
Line device 3 and airborne equipment 4, the console computer 1 are connected by Ethernet with simulation computer 2, and the hub 3 passes through
Cable respectively with simulation computer 2 with and airborne equipment 4 be connected, the console computer 1 is a high performance PC machine, use
In simulation process controls, emulation data are shown, emulates data display record, unmanned plane initial parameter is set, wind field environment injects
With fault model inject, the simulation computer 2 is an embedded computer, for unmanned plane mathematical model real-time resolving,
Sensor real-time simulation, wind-field model resolve, fault model resolves, the simulation of physical electrical interface, and the hub 3 is used for imitative
Genuine computer 2 and the electrical connection of airborne equipment 4 are allocated.
As shown in Fig. 2, the simulation computer 2 includes bus board 5, power conversion plate 6, mainboard 7, Serial Communication Function plate
8th, 1553B bus functionalities plate 9, analog signal input/output function plate 10 and switching signal input/output function plate 11.
As shown in Figs. 3-4, simulation management software is installed in the console computer 1, the simulation management software according to
It is secondary to be divided into link management service layer 12, data management service layer 13, simulation management service layer 14 and human-computer interaction layer 15, it is man-machine
Unmanned plane interactive interface is provided with alternation of bed 15, easy to control input parameter.
The data management service layer 13 includes sensing data management service interface 16, servo actuator data management takes
Business interface 17, engine data management service interface 18, subsystem data management service interface 19, body model and atmospheric wind
Environmental data management service interface 20 and emulation data management service interface 21, the simulation management service layer 14 includes and data
The corresponding sensor Simulation management of management service layer 13 and control service interface 22, servo actuator simulation management service interface
23rd, engine simulation management service interface 24, subsystem simulation management service interface 25, body model and atmospheric wind environment are imitated
Very with controlling service interface 26 and simulation process management service interface 27.
Console computer 1 is a high performance PC machine, simulation process control is mainly realized, for simulation process control
System, emulation data show, emulate data display record, the setting of unmanned plane initial parameter, the injection of wind field environment and fault model note
Enter, be connected by Ethernet with simulation computer 2, control the simulation process of simulation computer；Simulation computer 2 is removably
The core of the online flight Simulation System in face, is an embedded computer, for unmanned plane mathematical model real-time resolving, sensor
Real-time simulation, wind-field model resolve, fault model resolves, the simulation of physical electrical interface, the instruction of console computer 1, in real time
Resolve, by data feedback to console computer 1, and data are sent to the airborne equipment 4 of unmanned plane by hub 3；It is described
Hub 3 is used to be allocated simulation computer 2 and the electrical connection of airborne equipment 4, is controlled by flying to unmanned aerial vehicle onboard
System calculates signal with management and integrated management Computer signal is classified, recombinated, switched, and can be connected respectively to simulation calculation
The signal type corresponding with 4 cable of airborne equipment of unmanned plane of machine 2, completes the connection of system electrical signal, and the present invention passes through control
Platform computer 1 processed carries out simulation computer 2 simulation process control using Ethernet, emulation data are shown, emulate data shows
Record, unmanned plane initial parameter are set, the injection of wind field environment and fault model are injected, and simulation computer 2 is to unmanned plane mathematical modulo
Type real-time resolving, sensor real-time simulation, wind-field model resolves, fault model resolves, the simulation of physical electrical interface, and and line concentration
Device connects, and hub communicated using cable with airborne equipment, in the process of ground simulation unmanned plane airflight, with one kind
More efficient, safer, more economical, more fully mode checks UAV system, ensures the flight safety of unmanned plane, comprehensive verification
The correctness and reasonability of UAV system, provide UAV system data, without building iron bird testing stand, expense for pilot
Low, good economy performance, the cycle is short, and each piece volumes friendship is small, is moved easily.
By by bus board 5, power conversion plate 6, mainboard 7, Serial Communication Function plate 8,1553B bus functionalities plate 9, simulation
Signal input/output function plate 10 and switching signal input/output function plate 11 are integrated within one device, easy to remove and fortune
It is defeated.
Simulation management software is developed using Labview graphical programming languages, module layer is used by simulation management software
Secondaryization structure, realizes that the data acquisition, data analysis, data of analogue system are shown, data store and program debugging.
The function process of simulation management service layer 14 is called by human-computer interaction interface, by body model parameter and air wind
Field environmental parameter, sensor Simulation control, servo actuator Simulation Control, engine Simulation Control and simulation process manipulation instruction
It is sent to the interface module of simulation management service layer 14, after the interface module of simulation management service layer 14 receives manipulation instruction,
Start sensor or the function module such as servo actuator direct fault location and monitoring or data management, pass through each data management service
The interface module of layer 13 joins sensor Simulation, servo actuator emulation, engine emulation, body model and atmospheric wind environment
After number setting and the management of simulation process or control instruction are packed according to communication protocol coding, the service mould of Link Manager layer 12 is called
Block, transfers data to simulation computer 2, realizes the simulation process control to simulation computer 2.
Embodiment 3
As shown in Figure 1, a kind of online flight Simulation System of portable type ground, including console computer 1, simulation computer 2, collection
Line device 3 and airborne equipment 4, the console computer 1 are connected by Ethernet with simulation computer 2, and the hub 3 passes through
Cable respectively with simulation computer 2 with and airborne equipment 4 be connected, the console computer 1 is a high performance PC machine, use
In simulation process controls, emulation data are shown, emulates data display record, unmanned plane initial parameter is set, wind field environment injects
With fault model inject, the simulation computer 2 is an embedded computer, for unmanned plane mathematical model real-time resolving,
Sensor real-time simulation, wind-field model resolve, fault model resolves, the simulation of physical electrical interface, and the hub 3 is used for imitative
Genuine computer 2 and the electrical connection of airborne equipment 4 are allocated.
As shown in Fig. 2, the simulation computer 2 includes bus board 5, power conversion plate 6, mainboard 7, Serial Communication Function plate
8th, 1553B bus functionalities plate 9, analog signal input/output function plate 10 and switching signal input/output function plate 11.
As shown in Figs. 3-4, simulation management software is installed in the console computer 1, the simulation management software according to
It is secondary to be divided into link management service layer 12, data management service layer 13, simulation management service layer 14 and human-computer interaction layer 15, it is man-machine
Unmanned plane interactive interface is provided with alternation of bed 15, easy to control input parameter.
The data management service layer 13 includes sensing data management service interface 16, servo actuator data management takes
Business interface 17, engine data management service interface 18, subsystem data management service interface 19, body model and atmospheric wind
Environmental data management service interface 20 and emulation data management service interface 21, the simulation management service layer 14 includes and data
The corresponding sensor Simulation management of management service layer 13 and control service interface 22, servo actuator simulation management service interface
23rd, engine simulation management service interface 24, subsystem simulation management service interface 25, body model and atmospheric wind environment are imitated
Very with controlling service interface 26 and simulation process management service interface 27.
As shown in figure 5, being provided with simulation software in the simulation computer 2, the simulation software includes sensor Simulation
28th, unmanned plane body emulation 29, servo actuator emulation 30 and each subsystem emulation 31 of unmanned plane, sensor Simulation 28 and sensing
Device data buffer zone data interchange, unmanned plane body emulation 29 and unmanned plane ontology data buffer data intercommunication, servo start
Device emulation 30 and servo actuator data buffer zone data interchange, each subsystem emulation 31 of unmanned plane and subsystem data buffering area
Data interchange, console computer 1 are connected by ICP/IP protocol interface with simulation computer 2, are entered data into each data and are delayed
Rush area, the data after emulation are inputted CAN bus driving interface by each data buffer zone, CAN bus driving interface with hub
Interface board connection.
Console computer 1 is a high performance PC machine, simulation process control is mainly realized, for simulation process control
System, emulation data show, emulate data display record, the setting of unmanned plane initial parameter, the injection of wind field environment and fault model note
Enter, be connected by Ethernet with simulation computer 2, control the simulation process of simulation computer；Simulation computer 2 is removably
The core of the online flight Simulation System in face, is an embedded computer, for unmanned plane mathematical model real-time resolving, sensor
Real-time simulation, wind-field model resolve, fault model resolves, the simulation of physical electrical interface, the instruction of console computer 1, in real time
Resolve, by data feedback to console computer 1, and data are sent to the airborne equipment 4 of unmanned plane by hub 3；It is described
Hub 3 is used to be allocated simulation computer 2 and the electrical connection of airborne equipment 4, is controlled by flying to unmanned aerial vehicle onboard
System calculates signal with management and integrated management Computer signal is classified, recombinated, switched, and can be connected respectively to simulation calculation
The signal type corresponding with 4 cable of airborne equipment of unmanned plane of machine 2, completes the connection of system electrical signal, and the present invention passes through control
Platform computer 1 processed carries out simulation computer 2 simulation process control using Ethernet, emulation data are shown, emulate data shows
Record, unmanned plane initial parameter are set, the injection of wind field environment and fault model are injected, and simulation computer 2 is to unmanned plane mathematical modulo
Type real-time resolving, sensor real-time simulation, wind-field model resolves, fault model resolves, the simulation of physical electrical interface, and and line concentration
Device connects, and hub communicated using cable with airborne equipment, in the process of ground simulation unmanned plane airflight, with one kind
More efficient, safer, more economical, more fully mode checks UAV system, ensures the flight safety of unmanned plane, comprehensive verification
The correctness and reasonability of UAV system, provide UAV system data, without building iron bird testing stand, expense for pilot
Low, good economy performance, the cycle is short, and each piece volumes friendship is small, is moved easily.
By by bus board 5, power conversion plate 6, mainboard 7, Serial Communication Function plate 8,1553B bus functionalities plate 9, simulation
Signal input/output function plate 10 and switching signal input/output function plate 11 are integrated within one device, easy to remove and fortune
It is defeated.
Simulation management software is developed using Labview graphical programming languages, module layer is used by simulation management software
Secondaryization structure, realizes that the data acquisition, data analysis, data of analogue system are shown, data store and program debugging.
The function process of simulation management service layer 14 is called by human-computer interaction interface, by body model parameter and air wind
Field environmental parameter, sensor Simulation control, servo actuator Simulation Control, engine Simulation Control and simulation process manipulation instruction
It is sent to the interface module of simulation management service layer 14, after the interface module of simulation management service layer 14 receives manipulation instruction,
Start sensor or the function module such as servo actuator direct fault location and monitoring or data management, pass through each data management service
The interface module of layer 13 joins sensor Simulation, servo actuator emulation, engine emulation, body model and atmospheric wind environment
After number setting and the management of simulation process or control instruction are packed according to communication protocol coding, the service mould of Link Manager layer 12 is called
Block, transfers data to simulation computer 2, realizes the simulation process control to simulation computer 2.
Simulation software is mainly responsible for sensor, unmanned plane body, servo actuator and each subsystem physical characteristic of unmanned plane
Real-time simulation and simulation, and according to regulation data updating rate, the dynamic characteristic and failure of output transducer and servo actuator
Characteristic Simulation data, the model of simulation software are developed using Matlab/Simulink rapid prototyping technologies, Matlab/
Simulink rapid prototyping environment is provided comprising under mathematics library, prototype simulating, verifying, real time workshop, target software
The software debugging and development environment of the functions such as load, can accelerate software development cycle, and simulation software is by operation of Vxworks
System, to ensure the real-time of analogue system, efficiency of the Vxworks kernels in terms of system response and task switching is very high, full
The task of sufficient real time environment seizes the requirement of the communication between the communication between scheduling, task and synchronous, task and interruption, simulation management
The resolving and data interaction of software and simulation software, coordinate the operation relation of each task module, reasonable distribution cpu resource, makes it
Can farthest give play to predetermined function and performance, simulation software is mainly by system management module, unmanned plane object
Emulation module, wind disturbance injection module, direct fault location module, human-computer interaction module, database service interface module and bottom branch
The composition such as module is held, these function modules have collectively constituted the basic function of analogue system, according to the relation between function module,
Simulation software is opened using three layers of software architecture that functional layer, data management layer, Vxworks operating systems and hardware driving layer are formed
Hair, the normal and failure that functional layer completes sensor, servo actuator, unmanned plane ontology model and each subsystem of unmanned plane are imitated
Very；Data service layer realizes the unified management, protection and the upload of emulation data and control instruction of data with assigning, Vxworks
Operating system and hardware driving layer then utilize the interface of Vxworks operating systems, realize task scheduling with management, with host computer
Communication and the function such as bottom hardware interface driver, according in the hierarchical structure of simulation software and each level the characteristics of module and spy
Property it is combined and controlled, while consider the data interaction between module and module and design suitable communication strategy, imitate
During true system operation, each function module management and running all in the form of task, to ensure each task by real time, correctly
, it is necessary to be managed to each task and design scheduling strategy, suitable scheme is chosen in communication that also will be between task for scheduling,
Wherein it is equal to resolve task for the function such as the clearing of unmanned plane model, actuator model resolves, sensor model resolves, subsystem model resolving
Dispatched and performed by the task dispatcher of Vxworks operating systems, and the scheduling behavior of task dispatcher is then by scheduling strategy come about
Beam, scheduling strategy are managed and distribute to the scheduling occasion of task, and scheduler is then the specific actor of task scheduling.
In the development process of simulation software, the real-time of analogue system is mainly solved using following two key technologies
And function accuracy：
1st, the multitask Real-Time Scheduling mechanism being combined with round-robin is seized based on priority
Task tune by the way of priority seizes scheduling and Time Slice Circular Scheduling is combined as unmanned plane analogue system
Degree mechanism, according to the significance level of copying, divides the priority of artificial tasks, using based on priority preemptive type, time
Piece robin scheduling mode has carried out integrated dispatch and management to the task of analogue system, solves multitask real-time emulation system
Tasks carrying integrality sex chromosome mosaicism balanced with tasks carrying reliability, has ensured the real-time of system operation, has met unmanned plane
The demand of multiple systems real-time simulation.
Compared with typical real-time task scheduling method, the dispatching method there are the advantages of have：To equal priority task
When being scheduled, equal priority task is all placed in a first in, first out（FIFO）In queue.It is excellent without higher in systems
In the case of first level task ready, Time Slice Circular Scheduling is then to distribute one section of identical execution for each task in queue
Time slice, when reaching the timeslice time, no matter whether task is finished, will all be switched to next task, to realize phase
Same priority task shares cpu resource.Under priority preemption scheduling environment, the priority of cycling service task will
It is configured according to the size of its cycle of operation, duty cycle is shorter, and the priority of arrangement is higher.Rate-Monotonic Scheduling Algorithm
It is proved to be optimal static priority scheduling algorithm.
2nd, the unmanned plane high-speed simulation prototyping technology being combined with Vxworks operating systems
Unmanned plane simulation system software also becomes to become increasingly complex, and is not only embodied in the complexity of analogue system function itself, also body
Now in the design process in system, in the complexity of the design result verification in each stage and each module.The mould of these objects
Intend, usually all include a large amount of, complicated disjunction operations, when being designed by the way of traditional-handwork coding, difficulty compared with
Greatly, the design cycle is longer.Rapid prototyping technology can effectively solve the problems, such as these, on the one hand, pass through Rapid Prototype Design work
Tool can build the mathematical model of unmanned plane object with patterned language, and model is carried out totally on common PC platforms
Word simulating, verifying, this is provided a great convenience for the foundation and early stage verification of unmanned aerial vehicle object model.On the other hand, using fast
The modules such as the unmanned plane model for being full of complex calculation, executing agency's model can be directly automatically converted to product by fast prototyping technique
Level code, eliminates large amount of complex, heavy coding work.The code write by inheriting user, can also realize function
Fast integration and reuse.Automatically generating for code also allows designer quickly and accurately to realize and verify design result,
Significantly speed up the development process of system.
For the design and exploitation of unmanned plane real-time simulation software, Vxworks is combined with rapid control prototyping technology,
Can be real-time C code by unmanned plane numerical model, executing agency's numerical model and sensor values model rapid translating, with user
Code combines, and joint generation real-time simulation software, model running logical AND function will not change, and ensures software correctness, complete
Property and unambiguity, software and hardware integrate simple, reliability is high, efficiently reduces the possibility for being artificially introduced mistake, contracts significantly
Short construction cycle and cost, reduce development difficulty, and the simulation and verification platform of a high confidence level is provided for flight control system, fit
For various types of UAV system platforms, used for flight simulation.
Each function of system described in detail below.
Unmanned plane body emulates, and the online flight Simulation System in ground, which essentially consists in, examines flying-controlled box, avionics software and machine
Correctness, the reasonability of electric software, it is not necessary to consider the factors such as flutter, the elastic deformation of unmanned plane, thus establish unmanned plane six
Free degree dynamics and kinematics rigid model.
Atmospheric environment simulation, in order to fully describe the atmospheric environment residing for unmanned plane, real simulation state of flight, verifies nothing
The ability of all kinds of wind disturbances in man-machine itself and flight control system reply atmospheric environment, and all kinds of wind disturbances are to unmanned plane during flying product
The influence that matter is brought, need to emulate atmospheric environment.The atmospheric condition frequently encountered according to unmanned plane, the online flight mould in ground
Intend pilot system have chosen horizontal constant value wind, fitful wind, wind shear and the typical wind field characteristic of four kinds of air turbulence studied and
Modeling.
Sensor Simulation, the flight course of the online flight simulation test system unmanned plane to be simulated in ground is, it is necessary to be passed
Sensor emulates, necessary flight parameter and positional information in simulated flight, " deception " flight control and management computer and synthesis
Computer is managed, completes whole flight course, the sensor of simulation mainly includes：Laser strapdown inertial navigation, fiber strapdown inertial navigation system, speed
Rate gyro, DGPS/BD2 systems, air data system, radio altimeter, microwave landing aids.
Unmanned plane other systems emulate, in the online flight simulation test in ground, inoperative actual engine, and fuel oil subsystem
System, generator system do not work, and to avoid the event of UAV system report, unmanned plane other systems are emulated, including：Take off
Land subsystem interface function, hydraulic pressure cold air subsystem interface function, ring control subsystem interface function, fuel oil subsystem interface work(
Energy, electrical subsystem interface analog functuion and avionics task subsystem interface analog functuion.
System interface design, ground on-line simulation system include numerous style interfaces such as 1553B, RS422, to solve ground
In online flight simulation test, part airborne equipment needs to simulate, and part airborne equipment needs material object, checks as much as possible airborne
The problem of equipment state, part airborne equipment can switch between simulation and material object, analogue system interface have following functions：
1st, the equipment simulated for needs, the online flight Simulation System in ground are directly simulated；
2nd, for needing equipment in kind, by the way of by the direct-connected airborne equipment of analogue system；
3rd, the equipment for needing simulation/material object to switch, sets switch, changeable emulation mode and material object inside analogue system
State.
Human-computer interaction function, human-computer interaction function are the online essential parts of flight simulation test system in ground,
The functions such as the management of analogue system, Initialize installation, data record are provided, specifically include herein below：Simulation process management control
System, simulation parameter set function, DDA analysis function, data record playback function, individually emulation data download function, biography
Sensor model running function.Friendly easily human-computer interaction interface, convenient observation and control unmanned plane parameter state are provided.
System real time, real-time are the basic performance of unmanned plane during flying analogue system, and ensure that simulation result has
The premise of high confidence, what simulation software real-time quality was directly related to the online flight simulation test simulation result in ground can
Letter property.
For the ease of data management and Models computed, simulation computer uses the level knot up and down of mainboard adjunction oralia card
Structure, mainboard are responsible for the functions such as Models computed and task scheduling, and interface board snap gauge intends connecing for the unmanned plane subsystems such as each sensor device
Mouthful characteristic, data exchange is carried out between mainboard and interface board by internal CAN bus, analogue system by each interface board with
Received airborne equipment data sending is given mainboard to carry out Models computed by UAV Communication, interface board, and mainboard is by calculation result
Interface board is then forwarded to, interface board is sent to each airborne equipment according to communication protocol, completes closed-loop simulation.
Embodiment described above only expresses the embodiment of the application, its description is more specific and detailed, but simultaneously
Therefore the limitation to the application protection domain cannot be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, on the premise of technical scheme design is not departed from, various modifications and improvements can be made, these belong to this
The protection domain of application.
Claims (5)
- A kind of 1. online flight Simulation System of portable type ground, it is characterised in that：Including console computer（1）, simulation calculation Machine（2）, hub（3）And airborne equipment（4）, the console computer（1）Pass through Ethernet and simulation computer（2）Even Connect, the hub（3）By cable respectively with simulation computer（2）With and airborne equipment（4）Connection, the console calculate Machine（1）For a high performance PC machine, controlled for simulation process, emulation data are shown, emulate data display record, unmanned plane Initial parameter is set, the injection of wind field environment and fault model are injected, the simulation computer（2）For an embedded computer, For unmanned plane mathematical model real-time resolving, sensor real-time simulation, wind-field model resolves, fault model resolves, physical electrical Interface is simulated, the hub（3）For to simulation computer（2）With airborne equipment（4）Electrical connection be allocated.
- A kind of 2. online flight Simulation System of portable type ground as claimed in claim 1, it is characterised in that：The simulation calculation Machine（2）Including bus board（5）, power conversion plate（6）, mainboard（7）, Serial Communication Function plate（8）, 1553B bus functionality plates （9）, analog signal input/output function plate（10）With switching signal input/output function plate（11）.
- A kind of 3. online flight Simulation System of portable type ground as claimed in claim 1, it is characterised in that：The console meter Calculation machine（1）Simulation management software is inside installed, the simulation management software is in turn divided into link management service layer（12）, data Management service layer（13）, simulation management service layer（14）With human-computer interaction layer（15）.
- A kind of 4. online flight Simulation System of portable type ground as claimed in claim 3, it is characterised in that：The data management Service layer（13）Including sensing data management service interface（16）, servo actuator data management service interface（17）, start Machine data management service interface（18）, subsystem data management service interface（19）, body model and atmospheric wind environmental data Management service interface（20）With emulation data management service interface（21）, the simulation management service layer（14）Including with data pipe Manage service layer（13）Corresponding sensor Simulation management and control service interface（22）, servo actuator simulation management service interface （23）, engine simulation management service interface（24）, subsystem simulation management service interface（25）, body model and atmospheric wind Environmental simulation and control service interface（26）With simulation process management service interface（27）.
- A kind of 5. online flight Simulation System of portable type ground as claimed in claim 1, it is characterised in that：The simulation calculation Machine（2）Simulation software is inside installed, the simulation software includes sensor Simulation（28）, unmanned plane body emulation（29）, servo Actuator emulates（30）Subsystem emulation each with unmanned plane（31）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710914171.9A CN107942720B (en) | 2017-09-30 | 2017-09-30 | Portable ground online flight simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710914171.9A CN107942720B (en) | 2017-09-30 | 2017-09-30 | Portable ground online flight simulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107942720A true CN107942720A (en) | 2018-04-20 |
| CN107942720B CN107942720B (en) | 2021-04-27 |
Family
ID=61935143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710914171.9A Active CN107942720B (en) | 2017-09-30 | 2017-09-30 | Portable ground online flight simulation system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107942720B (en) |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983756A (en) * | 2018-08-17 | 2018-12-11 | 国营芜湖机械厂 | A kind of avionics flight control system floor synthetic debugging verification platform |
| CN109283854A (en) * | 2018-10-29 | 2019-01-29 | 成都飞机工业（集团）有限责任公司 | A kind of portable analogue system of unmanned plane |
| CN109300359A (en) * | 2018-12-03 | 2019-02-01 | 江西洪都航空工业集团有限责任公司 | A method of realizing Aircraft Simulator data readback |
| CN109541963A (en) * | 2018-11-12 | 2019-03-29 | 北京应用气象研究所 | A kind of unmanned plane survey wind modeling technique based on sideslip angle information |
| CN109657379A (en) * | 2018-12-25 | 2019-04-19 | 西安航空电子科技有限公司 | A kind of model aircraft simulation and verification platform |
| CN110884687A (en) * | 2019-12-11 | 2020-03-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Semi-physical real-time simulation verification platform for PHM technology of electromechanical system |
| CN111913404A (en) * | 2020-06-15 | 2020-11-10 | 南京航空航天大学 | Multi-electric aircraft engine starting generator control semi-physical simulation device and method |
| CN111959819A (en) * | 2020-06-05 | 2020-11-20 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
| CN112308371A (en) * | 2020-09-22 | 2021-02-02 | 成都飞机工业（集团）有限责任公司 | Management and control system and management and control method for typical test of airplane |
| CN112711849A (en) * | 2020-12-29 | 2021-04-27 | 中国航空工业集团公司西安飞机设计研究所 | Internet-of-things simulation platform for air refueling process |
| CN112732952A (en) * | 2019-10-28 | 2021-04-30 | 腾讯科技（深圳）有限公司 | Monitoring method and related device for functional module in distributed recommendation system |
| CN112799742A (en) * | 2021-02-09 | 2021-05-14 | 上海海事大学 | Machine learning training system and method based on micro-service |
| CN112947378A (en) * | 2021-02-24 | 2021-06-11 | 西安交通大学 | Turbojet engine fault-tolerant test system and method based on unmanned aerial vehicle carrying platform |
| CN113110108A (en) * | 2021-04-28 | 2021-07-13 | 北京星途探索科技有限公司 | Implementation method for guaranteeing real-time performance of semi-physical simulation by three-layer structure |
| CN113433836A (en) * | 2021-06-01 | 2021-09-24 | 中国航空工业集团公司沈阳飞机设计研究所 | Semi-physical integrated verification platform of unmanned aerial vehicle |
| CN113917854A (en) * | 2021-10-18 | 2022-01-11 | 北京航空航天大学 | Semi-physical simulation platform of flight control system for large and medium-sized unmanned aerial vehicle |
| WO2022062648A1 (en) * | 2020-09-27 | 2022-03-31 | 苏州浪潮智能科技有限公司 | Automatic driving simulation task scheduling method and apparatus, device, and readable medium |
| CN114265332A (en) * | 2021-12-23 | 2022-04-01 | 广州信邦智能装备股份有限公司 | Unmanned aerial vehicle system bus emulation testing arrangement |
| CN116661480A (en) * | 2022-02-18 | 2023-08-29 | 海鹰航空通用装备有限责任公司 | Unmanned aerial vehicle rapid simulation auxiliary decision-making method |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009069824A (en) * | 2007-09-14 | 2009-04-02 | Boeing Co:The | Method and system to control operation of device using integrated simulation with time shift option |
| CN101435703A (en) * | 2008-12-24 | 2009-05-20 | 北京航空航天大学 | Semi-true object emulation technology apparatus of unmanned coaxal helicopter autonomous navigation system |
| CN102117071A (en) * | 2009-12-30 | 2011-07-06 | 中国科学院沈阳自动化研究所 | Multi-underwater robot semi-physical simulation system and control method thereof |
| CN201993601U (en) * | 2011-02-25 | 2011-09-28 | 中国科学院沈阳自动化研究所 | Indoor testing platform for multiple rotor flying robots |
| CN202230330U (en) * | 2011-10-14 | 2012-05-23 | 中国民航大学 | Physical simulation experimental platform for civil fixed-wing unmanned aerial vehicle |
| CN102566441A (en) * | 2011-12-29 | 2012-07-11 | 成都飞机工业（集团）有限责任公司 | Visual simulation test system for unmanned aerial vehicle (UAV) |
| CN103279126A (en) * | 2013-05-28 | 2013-09-04 | 哈尔滨工业大学 | Small-sized unmanned helicopter development testing platform |
| CN104503460A (en) * | 2014-12-05 | 2015-04-08 | 电子科技大学 | Ground station control system for universal unmanned aerial vehicle |
| CN105259788A (en) * | 2015-11-04 | 2016-01-20 | 中国直升机设计研究所 | Fault simulation method and system for flight control system |
| CN105373010A (en) * | 2015-11-24 | 2016-03-02 | 中国航空工业集团公司沈阳飞机设计研究所 | Small-scale unmanned aerial vehicle autopilot semi-physical simulation verification system |
| US20160094674A1 (en) * | 2014-09-26 | 2016-03-31 | Dassault Aviation | Infrastructure for hosting services in an aircraft, and related access method |
| CN105892305A (en) * | 2014-12-15 | 2016-08-24 | 北京空间技术研制试验中心 | General spacecraft ground test bed system |
| CN205844773U (en) * | 2016-06-02 | 2016-12-28 | 成都飞机工业（集团）有限责任公司 | A kind of unmanned plane Mechano-Electronic System Simulation structure |
| CN106444429A (en) * | 2016-11-16 | 2017-02-22 | 北京航空航天大学 | Flight control simulation system with fault diagnosis capability for unmanned helicopter |
| EP3164768A1 (en) * | 2014-09-30 | 2017-05-10 | SZ DJI Technology Co., Ltd. | Systems and methods for flight simulation |
| CN106773787A (en) * | 2016-12-28 | 2017-05-31 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane during flying simulation demo verification platform based on serial communication |
| CN106855693A (en) * | 2016-12-30 | 2017-06-16 | 北京天恒长鹰科技股份有限公司 | A kind of near space aerostatics semi-physical system, avionics system test and winged control semi-physical simulation method and ground controlling method |
-
2017
- 2017-09-30 CN CN201710914171.9A patent/CN107942720B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009069824A (en) * | 2007-09-14 | 2009-04-02 | Boeing Co:The | Method and system to control operation of device using integrated simulation with time shift option |
| CN101435703A (en) * | 2008-12-24 | 2009-05-20 | 北京航空航天大学 | Semi-true object emulation technology apparatus of unmanned coaxal helicopter autonomous navigation system |
| CN102117071A (en) * | 2009-12-30 | 2011-07-06 | 中国科学院沈阳自动化研究所 | Multi-underwater robot semi-physical simulation system and control method thereof |
| CN201993601U (en) * | 2011-02-25 | 2011-09-28 | 中国科学院沈阳自动化研究所 | Indoor testing platform for multiple rotor flying robots |
| CN202230330U (en) * | 2011-10-14 | 2012-05-23 | 中国民航大学 | Physical simulation experimental platform for civil fixed-wing unmanned aerial vehicle |
| CN102566441A (en) * | 2011-12-29 | 2012-07-11 | 成都飞机工业（集团）有限责任公司 | Visual simulation test system for unmanned aerial vehicle (UAV) |
| CN103279126A (en) * | 2013-05-28 | 2013-09-04 | 哈尔滨工业大学 | Small-sized unmanned helicopter development testing platform |
| US20160094674A1 (en) * | 2014-09-26 | 2016-03-31 | Dassault Aviation | Infrastructure for hosting services in an aircraft, and related access method |
| EP3164768A1 (en) * | 2014-09-30 | 2017-05-10 | SZ DJI Technology Co., Ltd. | Systems and methods for flight simulation |
| CN104503460A (en) * | 2014-12-05 | 2015-04-08 | 电子科技大学 | Ground station control system for universal unmanned aerial vehicle |
| CN105892305A (en) * | 2014-12-15 | 2016-08-24 | 北京空间技术研制试验中心 | General spacecraft ground test bed system |
| CN105259788A (en) * | 2015-11-04 | 2016-01-20 | 中国直升机设计研究所 | Fault simulation method and system for flight control system |
| CN105373010A (en) * | 2015-11-24 | 2016-03-02 | 中国航空工业集团公司沈阳飞机设计研究所 | Small-scale unmanned aerial vehicle autopilot semi-physical simulation verification system |
| CN205844773U (en) * | 2016-06-02 | 2016-12-28 | 成都飞机工业（集团）有限责任公司 | A kind of unmanned plane Mechano-Electronic System Simulation structure |
| CN106444429A (en) * | 2016-11-16 | 2017-02-22 | 北京航空航天大学 | Flight control simulation system with fault diagnosis capability for unmanned helicopter |
| CN106773787A (en) * | 2016-12-28 | 2017-05-31 | 中国航空工业集团公司西安飞机设计研究所 | A kind of unmanned plane during flying simulation demo verification platform based on serial communication |
| CN106855693A (en) * | 2016-12-30 | 2017-06-16 | 北京天恒长鹰科技股份有限公司 | A kind of near space aerostatics semi-physical system, avionics system test and winged control semi-physical simulation method and ground controlling method |
Non-Patent Citations (3)
| Title |
|---|
| 姜杨等: "某型无人机半实物仿真系统设计与实现", 《宇航计测技术》 * |
| 张威: "《Stateflow逻辑系统建模》", 31 October 2007, 西安电子科技大学出版社 * |
| 陈翌等: "《嵌入式软件开发技术》", 31 October 2003, 国防工业出版社 * |
Cited By (28)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983756A (en) * | 2018-08-17 | 2018-12-11 | 国营芜湖机械厂 | A kind of avionics flight control system floor synthetic debugging verification platform |
| CN108983756B (en) * | 2018-08-17 | 2021-07-13 | 国营芜湖机械厂 | Avionics flight control system ground comprehensive debugging and verification platform |
| CN109283854A (en) * | 2018-10-29 | 2019-01-29 | 成都飞机工业（集团）有限责任公司 | A kind of portable analogue system of unmanned plane |
| CN109541963A (en) * | 2018-11-12 | 2019-03-29 | 北京应用气象研究所 | A kind of unmanned plane survey wind modeling technique based on sideslip angle information |
| CN109541963B (en) * | 2018-11-12 | 2021-06-25 | 北京应用气象研究所 | Unmanned aerial vehicle wind measurement modeling method based on sideslip angle information |
| CN109300359A (en) * | 2018-12-03 | 2019-02-01 | 江西洪都航空工业集团有限责任公司 | A method of realizing Aircraft Simulator data readback |
| CN109657379A (en) * | 2018-12-25 | 2019-04-19 | 西安航空电子科技有限公司 | A kind of model aircraft simulation and verification platform |
| CN109657379B (en) * | 2018-12-25 | 2022-09-16 | 西安航空电子科技有限公司 | Simulation verification platform for airplane model |
| CN112732952A (en) * | 2019-10-28 | 2021-04-30 | 腾讯科技（深圳）有限公司 | Monitoring method and related device for functional module in distributed recommendation system |
| CN110884687A (en) * | 2019-12-11 | 2020-03-17 | 中国航空工业集团公司沈阳飞机设计研究所 | Semi-physical real-time simulation verification platform for PHM technology of electromechanical system |
| CN111959819B (en) * | 2020-06-05 | 2022-08-16 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
| CN111959819A (en) * | 2020-06-05 | 2020-11-20 | 江苏科技大学 | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof |
| CN111913404A (en) * | 2020-06-15 | 2020-11-10 | 南京航空航天大学 | Multi-electric aircraft engine starting generator control semi-physical simulation device and method |
| CN112308371A (en) * | 2020-09-22 | 2021-02-02 | 成都飞机工业（集团）有限责任公司 | Management and control system and management and control method for typical test of airplane |
| CN112308371B (en) * | 2020-09-22 | 2022-07-15 | 成都飞机工业（集团）有限责任公司 | Management and control system and management and control method for typical test of airplane |
| US11868808B2 (en) | 2020-09-27 | 2024-01-09 | Inspur Suzhou Intelligent Technology Co., Ltd. | Automatic driving simulation task scheduling method and apparatus, device, and readable medium |
| WO2022062648A1 (en) * | 2020-09-27 | 2022-03-31 | 苏州浪潮智能科技有限公司 | Automatic driving simulation task scheduling method and apparatus, device, and readable medium |
| CN112711849A (en) * | 2020-12-29 | 2021-04-27 | 中国航空工业集团公司西安飞机设计研究所 | Internet-of-things simulation platform for air refueling process |
| CN112799742B (en) * | 2021-02-09 | 2024-02-13 | 上海海事大学 | Machine learning practical training system and method based on micro-service |
| CN112799742A (en) * | 2021-02-09 | 2021-05-14 | 上海海事大学 | Machine learning training system and method based on micro-service |
| CN112947378A (en) * | 2021-02-24 | 2021-06-11 | 西安交通大学 | Turbojet engine fault-tolerant test system and method based on unmanned aerial vehicle carrying platform |
| CN113110108A (en) * | 2021-04-28 | 2021-07-13 | 北京星途探索科技有限公司 | Implementation method for guaranteeing real-time performance of semi-physical simulation by three-layer structure |
| CN113433836B (en) * | 2021-06-01 | 2023-11-28 | 中国航空工业集团公司沈阳飞机设计研究所 | Unmanned aerial vehicle semi-physical integration verification platform |
| CN113433836A (en) * | 2021-06-01 | 2021-09-24 | 中国航空工业集团公司沈阳飞机设计研究所 | Semi-physical integrated verification platform of unmanned aerial vehicle |
| CN113917854A (en) * | 2021-10-18 | 2022-01-11 | 北京航空航天大学 | Semi-physical simulation platform of flight control system for large and medium-sized unmanned aerial vehicle |
| CN113917854B (en) * | 2021-10-18 | 2024-04-12 | 北京航空航天大学 | Flight control system semi-physical simulation platform for large and medium unmanned aerial vehicle |
| CN114265332A (en) * | 2021-12-23 | 2022-04-01 | 广州信邦智能装备股份有限公司 | Unmanned aerial vehicle system bus emulation testing arrangement |
| CN116661480A (en) * | 2022-02-18 | 2023-08-29 | 海鹰航空通用装备有限责任公司 | Unmanned aerial vehicle rapid simulation auxiliary decision-making method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107942720B (en) | 2021-04-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107942720A (en) | A kind of online flight Simulation System of portable type ground | |
| CN101382968B (en) | Advanced synthesis type aviation electronic simulation system and simulation method thereof | |
| CN107132771B (en) | A kind of carrier rocket flight quality efficient emulation verification method | |
| Forsythe et al. | Coupled flight simulator and CFD calculations of ship airwake using kestrel | |
| CN107643695A (en) | Someone/unmanned plane cluster formation VR emulation modes and system based on brain electricity | |
| CN114415630B (en) | Comprehensive test platform and method for airplane management system | |
| CN102789171A (en) | Method and system for semi-physical simulation test of visual unmanned aerial vehicle flight control | |
| CN103617324A (en) | Flight simulation recording analysis system based on FlightGear simulation software | |
| Morton et al. | HPCMP CREATETM-AV kestrel architecture, capabilities, and long term plan for fixed-wing aircraft simulations | |
| CN106383969B (en) | A kind of carrier rocket multi-simulation data interactive method | |
| CN107526303A (en) | A kind of Vehicle Management System simulation and verification platform | |
| CN109491266A (en) | A kind of Launch vehicle flight simulation method based on more body virtual prototypes | |
| CN108287959A (en) | Artificial intelligence program person writes digital aircraft source code specifications decision and executes method | |
| CN105022288A (en) | Simulation system of industrial electronic embedded system | |
| CN106776321A (en) | A kind of winged guard system software emulation contrast conversion method based on dynamic link library | |
| CN105116758A (en) | Simulation method of industrial electronic embedded system | |
| CN110764433A (en) | V-REP platform-based cluster unmanned aerial vehicle system parallel simulation method | |
| CN109283854A (en) | A kind of portable analogue system of unmanned plane | |
| CN113156834A (en) | Development method of semi-physical simulation flight simulation system | |
| CN113985920A (en) | Portable heterogeneous unmanned aerial vehicle formation flying aircraft simulator | |
| CN105159144A (en) | Spacecraft control system ground simulation high-speed control development system | |
| CN109656147A (en) | Air-combat simulation system | |
| CN107293186A (en) | A kind of inertial navigation real-time emulation system of training simulators | |
| CN103985284A (en) | Cross-platform teacher control console system and control method thereof based on Qt | |
| CN104503824A (en) | Wingmanship analysis validation system oriented to civil air traffic control |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |