CN108052116A - The vertical navigation bootmode automatic Verification system and method for flight management system - Google Patents
The vertical navigation bootmode automatic Verification system and method for flight management system Download PDFInfo
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- CN108052116A CN108052116A CN201711298996.9A CN201711298996A CN108052116A CN 108052116 A CN108052116 A CN 108052116A CN 201711298996 A CN201711298996 A CN 201711298996A CN 108052116 A CN108052116 A CN 108052116A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The present invention relates to a kind of vertical navigation bootmode automatic Verification systems of flight management system, belong to aviation electronics control technology field, pass through the flight environment of vehicle analog module of setting, flight management module, non-avionics system emulation module etc..The vertical navigation bootmode automatic Verification system of the flight management system of the present invention utilizes the entire flight course of flight environment of vehicle module simulation aircraft, it has the function of the autonomous taking-off and landing of aircraft, roll holding, pitching keeps, highly keeps, highly selecting, course is kept, course selects and glide path selection, way point are navigated etc., it can realize the automatic guiding of aircraft, reliability, the correctness of Aircraft Management System can be verified under ground experiment environment, has the characteristics that reduce cost, efficient.
Description
Technical field
The invention belongs to aviation electronics control technology fields more particularly to a kind of vertical navigation of flight management system to draw
Waveguide mode automatic Verification system and method.
Background technology
Flight management system is the important component of Modern Avionics system, by navigation equipment sensor, really
Determine the current location status information of aircraft, it is accurate to guide so as to which the horizontal trajectory for aircraft future and normal trajectories are predicted
Aircraft flight.It is widely used on civilian and military aircraft at present.
Flight management system vertical navigation function is that calculating is guided under flight status, and its work
Pattern is numerous, and condition triggering is complicated, how in ground experiment room to verify the correctness of its function, become one it is important the problem of,
Especially how this function carries out more aobvious particularly important of automatic Verification.
The content of the invention
The object of the present invention is to provide a kind of vertical navigation bootmode automatic Verification systems of flight management system
System and method for verifying reliability, the correctness of Aircraft Management System under ground experiment environment, reduce cost, improve effect
Rate.
In order to achieve the above objectives, the technical solution adopted by the present invention is：A kind of vertical navigation guiding of flight management system
Pattern automatic Verification system, including
Flight environment of vehicle analog module, the dynamics of flight environment of vehicle analog module analog simulation aircraft, kinematics are special
Flight control system and automatic flight control system, the dynamical system of property, atmospheric environment characteristic and aircraft, and export aircraft
Simulated flight data, emulation mode data and simulated environment data；
Flight management module, flight management module receive flying quality, the status data that flight environment of vehicle analog module generates
And environmental data, and the steering deviation data between predetermined flight path are calculated, and steering deviation data are inputted and are flown
Environmental simulation module generates aircraft control instruction；
Non- avionics system emulation module, non-avionics system emulation module, which receives flight environment of vehicle analog module and generates to simulate, to fly
Row data, emulation mode data and simulated environment data are compared with normal data, and the work of simulated flight management module
Mode instructs, and operation mode instruction is passed to flight environment of vehicle analog module and flight management module；
Flight environment of vehicle analog module is according to operation mode instruction into relevant work mode, and flight management module is according to work
Make mode instruction output key instruction, and key instruction is transmitted to and gives flight environment of vehicle analog module, flight environment of vehicle analog module root
It completes to track according to key instruction, realizes the amendment of relevant work mode.
Further, ARINC429 bus monitors, ARINC429 bus monitors monitoring flight management module are further included
State guiding data generate key instruction, and key instruction is passed into flight environment of vehicle analog module.
Further, AFDX bus monitors, the acquisition flight environment of vehicle analog module output of AFDX bus monitors are further included
Sensing data, and by Data Format Transform, pass to flight management module.
Further, flight management module loading flight plan, for defining flight path.
Further, data record and analysis module, data record and analysis module record-setting flight environmental simulation are further included
The guiding number that simulated flight data, emulation mode data and simulated environment data, the flight management module of module generation generate
The operation mode generated according to, non-avionics system emulation module instructs.
The present invention also provides a kind of vertical navigation bootmode automatic verification method of flight management system, bags
It includes
First, the dynamics of flight environment of vehicle analog module analog simulation aircraft, kinematics characteristic, atmospheric environment are special
Flight control system and automatic flight control system, the dynamical system of property and aircraft, and export the simulated flight number of aircraft
According to, emulation mode data and simulated environment data；
Second, flight management module receives flying quality, status data and the environment number that flight environment of vehicle analog module generates
According to, and the steering deviation data between predetermined flight path are calculated, and steering deviation data input flight environment of vehicle is simulated
Module generates aircraft control instruction；
3rd, it receives the data of flight environment of vehicle analog module generation in flight management module and passes steering deviation data
While passing the aircraft control instruction of flight environment of vehicle analog module, non-avionics system emulation module also receives flight environment of vehicle mould
Intend module generation simulated flight data, emulation mode data and simulated environment data to be compared with normal data, and simulate and fly
The operation mode instruction of row management module, and operation mode instruction is passed into flight environment of vehicle analog module and flight management mould
Block；
4th, flight environment of vehicle analog module enters relevant work mode, flight management module root according to operation mode instruction
Output key instruction is instructed according to operation mode, and key instruction is transmitted to and gives flight environment of vehicle analog module, flight environment of vehicle simulation mould
Root tuber is completed to track according to key instruction, realizes the amendment of relevant work mode.
Further, in first, the simulated flight data, emulation mode data and simulated environment number of aircraft are used for transmission
According to being AFDX bus monitors, the AFDX bus monitors are additionally operable to the sensing of acquisition flight environment of vehicle analog module output
Device data, and data format is converted.
Further, in second, for flight environment of vehicle analog module being ARINC429 by steering deviation data transfer
Bus monitor, the state guiding data generation that the ARINC429 bus monitors are additionally operable to monitoring flight management module are drawn
Lead instruction.
Further, flight management module loading flight plan, for defining flight path.
Further, during first to fourth, data record and analysis module record-setting flight environmental simulation are also passed through
The guiding number that simulated flight data, emulation mode data and simulated environment data, the flight management module of module generation generate
The operation mode generated according to, non-avionics system emulation module instructs.
The vertical navigation bootmode automatic Verification system and method for the flight management system of the present invention utilizes flying ring
The entire flight course of border module simulation aircraft is kept, highly with the autonomous taking-off and landing of aircraft, roll holding, pitching
The functions such as holding, height selection, course is kept, course selects and glide path selects, way point navigation, can realize aircraft
Automatic guiding.
Description of the drawings
Attached drawing herein is merged in specification and forms the part of this specification, shows the reality for meeting the present invention
Apply example, and the principle for explaining the present invention together with specification.
Fig. 1 is the automatic Verification system block diagram of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage that the present invention is implemented clearer, below in conjunction in the embodiment of the present invention
Attached drawing, the technical solution in the embodiment of the present invention is further described in more detail.
The present invention provides a kind of flight management system vertical navigation bootmode automatic Verification system and method,
Automatic Verification system include flight environment of vehicle analog module, flight management module, non-avionics system emulation module, for passing
Data/address bus and the data storage of transmission of data and analysis module, airborne navigation database etc..
Above-mentioned flight management module is served as by Flight Management Computer, flight environment of vehicle analog module is calculated by being installed on PC
Flight environment of vehicle software in machine is served as, non-avionics system emulation module is specially non-avionics system emulator and data/address bus
It is the data being installed in PC computers for AFDX bus datas and ARINC429 bus datas, data storage and analysis module
Record and analysis software.
Above-mentioned flight environment of vehicle running software is in Windows systems, and Flight Management Computer operates in Vxworks behaviour
Make system, thus transmitted from Windows systems to Vxworks systems data and it is opposite slave Vxworks systems to
Windows systems transmission data are required to transmitted data is wanted to carry out backward transmission.
In the system formed in said structure, the Computer Simulation number of the flight environment of vehicle software output in PC machine
According to by AFDX simulation cards, the Flight Management Computer resided on IPC is sent into.The emulation data of computer output pass through
AFDX simulation cards are converted into AFDX bus datas, and data conversion is needed according to AFDX Bus simulator agreements, to emulation data into
Row encapsulation, and Effective judgement is carried out, so as to ensure that data can pass to flight from flight environment of vehicle software (Windows ends)
Manage computer (Vxworks ends).
Opposite, the ARINC429 data of Flight Management Computer output are sent into flight environment of vehicle by 429 simulation cards
Simulation software.The data of Flight Management Computer output for ARINC429 bus datas, needed at Windows ends according to
ARINC429 Bus simulator agreements, parse bus data, and carry out Effective judgement, so as to ensure that data can be from
Flight Management Computer (Vxworks ends) passes to flight environment of vehicle software (Windows ends).
The emulation data of non-avionics system emulator are converted by bus, are sent into Flight Management Computer, while non-avionics
System simulator is converted data are emulated by bus, is sent into flight environment of vehicle software.Since Flight Management Computer operates in
Vxvorks operating systems rather than avionics system emulator operate in Windows operating systems, so needing to non-avionics system
The data of emulator output carry out carrying out backward transmission after RS232 Bus Wrappers.
The data that AFDX bus monitors will monitor are sent into data record and analysis software.Data record is soft with analyzing
The data of part record are stored according to time series, while give each data list one number, and data list passes through this
Number is indexed.Data record and analysis software process：For following test case, (it is high that aircraft reaches 2000m air pressures
Enter automatic flat winged mode when spending), data record is sent vertical with analysis software using the non-avionics system of indexed search
Navigation guide mode instruction sees whether be flat winged instruction, meanwhile, the continuous pressure altitude for judging aircraft is guided in vertical navigation
In the case that mode instruction is flat winged pattern, whether the height of aircraft eventually becomes (1990,2010), if into this area
Between, then show success.
Flight Management Computer start shooting, open simultaneously flight environment of vehicle software, non-avionics system emulator, data record with
Analysis software, AFDX bus monitors, ARINC429 bus monitors are opened.
On flight environment of vehicle software, the initialization for configuring aircraft is taken off parameter information.Initializing parameter of taking off includes aircraft
Initial longitude, original dimensions, elemental height, initial heading, initial velocity, initial aircraft configuration and flight control mode
Deng take off parameter information such as table 1：
Table 1 takes off parameter information table
| Initial longitude | 109 |
| Initial latitude | 34 |
| Elemental height | 5 |
| Initial heading | 10 |
| Initial velocity | 0 |
| Takeoff configuration | 1 |
The operation of test case is carried out on Flight Management Computer, that is, inputs existing in a bar navigation database fly
Row plan SD1=(WP001, WP002, WP003, WP004, WP005, WP006, WP007) such as the following table 2：
2 flight diagram SD1 of table
It chooses into departure procedure, inputs parameter of taking off, Flight Management Computer predicts vertical air route, the present embodiment
Parameter such as the following table 3 of taking off：
Table 3 takes off parameter
| Aircraft weight | 110 tons |
| Flap configuration | 15 degree |
| Environment temperature | 10 degree |
| V1 | 200Km/h |
| V2 | 200Km/h |
| VR | 220Km/h |
| Cruising altitude | 6000m |
Flight environment of vehicle software is run afterwards, and aircraft independently takes off, and initially enters automatic model of flight, is indicated in aircraft empty
When speed does not reach 200Km/h, 0 ° of holding mode of mode and roll is kept using pitching；Reach 200Km/h in aircraft indicator air speed
After, flight environment of vehicle software proceeds by Lateral Navigation and vertical navigation mode, i.e., flight ARINC429 buses collected
Manage the current yaw of computer output away from the information such as track angle deviation and vertical guide parameter, parsed, be sent into and fly
In the control rate of row environment software, the cycle closed-loop control of aircraft is carried out.
Non- avionics system emulator according to from flight environment of vehicle software collection to aircraft current flight state (flight shape
State：Aircraft wheel information carrying number, aircraft terrain clearance, aircraft configuration, air speed), according to the requirement of test case, automatic imitation
The longitudinally controlled instruction of event mode flight control system is sent, changes perpendicular attitude and the track of aircraft.Final test such as table 3
It is shown.
4 test case of table
After the landing order for receiving non-avionics system emulator and sending, aircraft independent landing, freeze flight environment of vehicle
Software.Data record and analysis software, operating analysis are opened, checks printed result of the test daily record, entire off-test.
Analytic process is as follows：The instruction that more non-avionics system emulation module is sent to airborne equipment and flight environment of vehicle analog module exists
After variation, retrieve aircraft vertical speed whether according to instruction send being changed, while retrieve aircraft height whether
Into (990,1010) altitude range.
The vertical navigation bootmode automatic Verification system and method for the flight management system of the present invention utilizes flying ring
The entire flight course of border software simulation aircraft, keeps, highly with the autonomous taking-off and landing of aircraft, roll holding, pitching
It keeps, highly select, course is kept, course selects and the functions such as glide path selection, way point are navigated.Utilize non-avionics system
System emulator, according to time sequential, the instruction of simulation triggering flight control system is sent with event mode message, simultaneously should
Aircraft state in system acquisition flight environment of vehicle software.Using AFDX, ARINC429 bus monitor, flight environment of vehicle is exported
Data be sent into Flight Management Computer and by Flight Management Computer output data be sent into flight environment of vehicle software.Profit
With data Hebei, Shandong and Henan analysis software whole process record flight data domain control instruction, and its analysis module is utilized, instruct correct
Property judge and automatic printing experiment daily record.Said structure can realize the automatic guiding of aircraft, can be under ground experiment environment
It verifies reliability, the correctness of Aircraft Management System, reduces cost, improves effect.
The above is only the optimal specific embodiment of the present invention, but protection scope of the present invention is not limited to
This, any one skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the guarantor of the claim
It protects subject to scope.
Claims (10)
- A kind of 1. vertical navigation bootmode automatic Verification system of flight management system, which is characterized in that the system bag It includesFlight environment of vehicle analog module, dynamics, kinematics characteristic, the air of flight environment of vehicle analog module analog simulation aircraft Flight control system and automatic flight control system, the dynamical system of environmental characteristics and aircraft, and the simulation for exporting aircraft flies Row data, emulation mode data and simulated environment data；Flight management module, flight management module receive flying quality, status data and the ring that flight environment of vehicle analog module generates Border data, and the steering deviation data between predetermined flight path are calculated, and steering deviation data are inputted into flight environment of vehicle Analog module generates aircraft control instruction；Non- avionics system emulation module, non-avionics system emulation module receive flight environment of vehicle analog module and generate simulated flight number It is compared according to, emulation mode data and simulated environment data with normal data, and the operation mode of simulated flight management module Instruction, and operation mode instruction is passed into flight environment of vehicle analog module and flight management module；Flight environment of vehicle analog module is according to operation mode instruction into relevant work mode, and flight management module is according to operation mode Instruction output key instruction, and key instruction is transmitted to and gives flight environment of vehicle analog module, flight environment of vehicle analog module is according to guiding Tracking is completed in instruction, realizes the amendment of relevant work mode.
- 2. the vertical navigation bootmode automatic Verification system of flight management system according to claim 1, feature It is, further includes ARINC429 bus monitors, the state guiding number of ARINC429 bus monitors monitoring flight management module According to generation key instruction, and key instruction is passed into flight environment of vehicle analog module.
- 3. the vertical navigation bootmode automatic Verification system of flight management system according to claim 1, feature It is, further include AFDX bus monitors, AFDX bus monitors gather the sensing data of flight environment of vehicle analog module output, And by Data Format Transform, pass to flight management module.
- 4. the vertical navigation bootmode automatic Verification system of flight management system according to claim 1, feature It is, flight management module loading flight plan, for defining flight path.
- 5. the vertical navigation bootmode automatic Verification system of flight management system according to claim 1, feature It is, further includes data record and analysis module, the mould that data record is generated with analysis module record-setting flight environmental simulation module Plan flying quality, emulation mode data and simulated environment data, the guiding data of flight management module generation, non-avionics system are imitated The operation mode instruction that true module generates.
- A kind of 6. vertical navigation bootmode automatic verification method of flight management system, which is characterized in that the method bag It includesFirst, the dynamics of flight environment of vehicle analog module analog simulation aircraft, kinematics characteristic, atmospheric environment characteristic and Flight control system and automatic flight control system, the dynamical system of aircraft, and export the simulated flight data of aircraft, simulation shape State data and simulated environment data；Second, flight management module receives flying quality, status data and the environmental data that flight environment of vehicle analog module generates, and The steering deviation data between predetermined flight path are calculated, and steering deviation data input flight environment of vehicle analog module is produced Raw aircraft control instruction；3rd, receive the data of flight environment of vehicle analog module generation and by steering deviation data transfer to winged in flight management module While the aircraft control instruction of row environmental simulation module, non-avionics system emulation module also receives the production of flight environment of vehicle analog module Raw simulated flight data, emulation mode data and simulated environment data are compared with normal data, and simulated flight management mould The operation mode instruction of block, and operation mode instruction is passed into flight environment of vehicle analog module and flight management module；4th, flight environment of vehicle analog module is according to operation mode instruction into relevant work mode, and flight management module is according to work Make mode instruction output key instruction, and key instruction is transmitted to and gives flight environment of vehicle analog module, flight environment of vehicle analog module root It completes to track according to key instruction, realizes the amendment of relevant work mode.
- 7. the vertical navigation bootmode automatic Verification system of flight management system according to claim 6, feature It is, in first, the simulated flight data, emulation mode data and simulated environment data that are used for transmission aircraft are AFDX buses Monitor, the AFDX bus monitors are additionally operable to the sensing data of acquisition flight environment of vehicle analog module output, and by data Form is converted.
- 8. the vertical navigation bootmode automatic Verification system of flight management system according to claim 6, feature It is, in second, for flight environment of vehicle analog module being ARINC429 bus monitors by steering deviation data transfer, institute State the state guiding data generation key instruction that ARINC429 bus monitors are additionally operable to monitoring flight management module.
- 9. the vertical navigation bootmode automatic Verification system of flight management system according to claim 6, feature It is, flight management module loading flight plan, for defining flight path.
- 10. the vertical navigation bootmode automatic Verification system of flight management system according to claim 6, feature It is, during first to fourth, also passes through data record and the mould of analysis module record-setting flight environmental simulation module generation Plan flying quality, emulation mode data and simulated environment data, the guiding data of flight management module generation, non-avionics system are imitated The operation mode instruction that true module generates.
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2017
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