CN109283854A - A kind of portable analogue system of unmanned plane - Google Patents
A kind of portable analogue system of unmanned plane Download PDFInfo
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- CN109283854A CN109283854A CN201811267979.3A CN201811267979A CN109283854A CN 109283854 A CN109283854 A CN 109283854A CN 201811267979 A CN201811267979 A CN 201811267979A CN 109283854 A CN109283854 A CN 109283854A
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- emulation module
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- 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
Abstract
The invention discloses a kind of portable analogue systems of unmanned plane, including flying control emulation module, airborne subsystem emulation module, earth station's emulation module, master control emulation module, the winged control emulation module, airborne subsystem emulation module, earth station's emulation module, master control emulation module are integrated in a PC machine, and mutual data communication is carried out by shared drive mechanism, it completes the test of unmanned plane normal flight, direct fault location test and air-dries to disturb injection test；The shared drive mechanism constitutes global data pond.The present invention realizes unmanned plane mission profile simulated flight, including normal flight test, direct fault location test, air-dries and disturb injection test, guarantee real-time simulation requirements, while facilitating scientific research personnel to carry to outfield and doing field simulation test, provides good exploitation environment for the R&D work of scientific research personnel.
Description
Technical field
The present invention relates to winged control simulation technical fields, are a kind of portable analogue systems of unmanned plane specifically.
Background technique
In the development process of aircraft system, flight simulation technology plays an important role, and flies to the airborne of unmanned plane
It controls software and carries out emulation testing, flight control function, performance and course line reasonability can be verified, verify the reliability of system, greatly
It is big to shorten the lead time, accelerate progress, reduces risk.
The scientific research of unmanned plane outfield is taken a flight test process, due to flying control policy optimization or related recording the variation of equipment use condition, note
It carries flying-controlled box and is in the process that constantly change optimizes, it, will be to change part and correlation as long as flying-controlled box has change to upgrade
Content carries out simulating, verifying, it is ensured that the record software after upgrading is correct, at present in laboratory when a large amount of simulating, verifying work
It is carried out on emulation platform, then simulation result is fed back into outfield.For each aerial mission, need to complete simulation before flight to fly
The correctness and reasonability of row verifying routeing, verifying means lack, and verification process is complicated, human and material resources needed for verifying, when
Between it is huge, need guarantee condition various, become the bottleneck taken a flight test.
Summary of the invention
The purpose of the present invention is to provide a kind of portable analogue system of unmanned plane, realize that the emulation of unmanned plane mission profile flies
Row, including normal flight test, direct fault location are tested, air-dry and disturb injection test, guarantee real-time simulation requirements, while facilitating section
The personnel of grinding carry to outfield and do field simulation test, provide good exploitation environment for the R&D work of scientific research personnel.
The present invention is achieved through the following technical solutions: a kind of portable analogue system of unmanned plane, including winged control emulation module,
Airborne subsystem emulation module, earth station's emulation module, master control emulation module, the winged control emulation module, airborne subsystem are imitative
True module, earth station's emulation module, master control emulation module are integrated in a PC machine, and by shared drive mechanism carry out mutually it
Between data communication, complete unmanned plane normal flight test, direct fault location test and air-dry disturb injection test；It is described shared interior
It deposits mechanism and constitutes global data pond.
Further, in order to preferably realize the present invention, the winged control emulation module includes airborne winged control application layer, number
Character module, servo action and sensor subsystem module；The airborne winged control application layer, digital character module, servo action
It is encapsulated in the form of dynamic link library with sensor subsystem module, forms airborne winged control application layer dynamic link library, number flies
Machine module dynamic link library, servo action and sensor subsystem module dynamic link library.
Further, in order to preferably realize the present invention, the airborne subsystem emulation module is for respectively to electromechanics point
System, avionics subsystem, the primary control program of power subsystem and relevant device interface and state realize excitation emulation.
Further, in order to preferably realize the present invention, earth station's emulation module includes user's operation layer, data biography
Defeated layer.
Further, in order to preferably realize the present invention, the user's operation layer includes basic operation module, monitoring mould
Block, flight path programming module；The basic operation module include interface build, map denotation, status bar；The monitoring module includes
Flight monitoring module, instruments subsystems module；The flight path programming module includes avionics operation module, instruments subsystems module.
Further, in order to preferably realize the present invention, the data transfer layer includes telemetering parsing module, remote control transmission
Module.
Further, in order to preferably realize the present invention, the master control emulation module includes sequentially connected human-computer interaction
Layer, data management layer, simulation process manage control layer；The data management layer is for exchanging human-computer interaction layer and simulation process pipe
Manage the data between control layer.
Further, in order to preferably realize the present invention, the human-computer interaction layer is used for simulation process management, simulation parameter
Setting, direct fault location, data storage.
Further, in order to preferably realize the present invention, the simulation process management control layer includes body model and wind
Field environmental data management interface, sensing data management interface, subsystem data management interface；The body model and wind field ring
Border data management interface, sensing data management interface, subsystem data management interface pass through respectively data management layer with it is man-machine
Alternation of bed connection.
Working principle:
The human-computer interaction between user and system is realized by the interface of earth station's emulation module and master control emulation module.Effectively
Realize unmanned plane task simulation test flight, simulated flight test include the normal flight of unmanned plane, direct fault location test,
It air-dries and disturbs injection test.
Compared with prior art, the present invention have the following advantages that and the utility model has the advantages that
(1) present invention is highly integrated all-digital simulation system, and all module synthesis integrate and a PC machine, facilitates scientific research people
Member carries to outfield and does field simulation test, and required hardware resource is few, can carry out simulating, verifying work whenever and wherever possible, is scientific research
The R&D work of personnel provides good exploitation environment, and use manpower and material resources sparingly cost, and maintenance convenient to use；
(2) shared drive mechanism is used between each module of the present invention, constitutes global data pond, can easily detect each scheme love
Input/output date flow, convenient for monitoring system operating condition and extract data, have good scalability and versatility；
(3) present invention realizes the test of unmanned plane normal flight, direct fault location test, air-dries and disturb the test flights function such as injection test
Energy；
(4) earth station's emulation module of the invention realizes telemetry parsing display, telecommand transmission, aerial mission pre-planning
And two-dimensional map and Target track displaying.
Detailed description of the invention
Fig. 1 is system module operating mechanism figure of the invention；
Fig. 2 is master control emulation module composition and its functional diagram of the invention；
Fig. 3 is earth station's emulation module hierarchical diagram of the invention；
Fig. 4 is analogue system initialization flowchart of the invention；
Fig. 5 is earth station's emulation module work flow diagram of the invention；
Fig. 6 is analogue system cycle timing diagram of the invention.
Specific embodiment
The present invention is described in further detail below with reference to embodiment, embodiments of the present invention are not limited thereto.
Embodiment 1:
The present invention is achieved through the following technical solutions, as shown in figs 1 to 6, a kind of portable analogue system of unmanned plane, including fly
Control emulation module, airborne subsystem emulation module, earth station's emulation module, master control emulation module, the winged control emulation module, machine
It carries subsystem emulation module, earth station's emulation module, master control emulation module and is integrated in a PC machine, and pass through shared drive mechanism
Mutual data communication is carried out, completes the test of unmanned plane normal flight, direct fault location test and air-dry to disturb injection test；
The shared drive mechanism constitutes global data pond.
It should be noted that proposing a kind of portable analogue system of unmanned plane, the analogue system is to fly by above-mentioned improvement
Control emulation module is core, airborne subsystem emulation module, earth station's emulation module, master control emulation module has been built, by winged control
Emulation module, airborne subsystem emulation module, earth station's emulation module, master control emulation module are integrated in a PC machine, and above-mentioned four
Data communication between a emulation module realized using shared drive mechanism, described this analogue system of shared drive mechanism structure it is complete
Office data pond.As shown in Figure 1, being realized between user and system by the interface of earth station's emulation module and master control emulation module
Human-computer interaction.Unmanned plane task simulation test flight is effectively realized, the simulated flight test includes that the normal of unmanned plane flies
Row, direct fault location test air-dry and disturb injection test.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 2:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in figs 1 to 6, the winged control emulation module packet
Include airborne winged control application layer, digital character module, servo action and sensor subsystem module；The airborne winged control application layer,
Digital character module, servo action and sensor subsystem module encapsulate in the form of dynamic link library, form airborne winged control and answer
With layer dynamic link library, digital character module dynamic link library, servo action and sensor subsystem module dynamic link library.
It should be noted that the winged control emulation module is the core of this analogue system, mainly by above-mentioned improvement
For receiving the instruction of master control emulation module and earth station's emulation module, number is completed by recording winged control application layer by instruction requirement
The emulation of word aircraft, servo action subsystem, sensor subsystem, unmanned plane kinetic characteristics and atmospheric environment.
Fly the airborne winged control application layer dynamic link library of control emulation module periodic duty, number character module dynamic link library,
Servo action and sensor subsystem module dynamic link library.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 3:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in figs 1 to 6, the airborne subsystem emulation
Module is used for respectively to electromechanical subsystem, avionics subsystem, the primary control program of power subsystem and relevant device interface and shape
State realizes excitation emulation.
It should be noted that the record subsystem emulation module is mainly responsible for electromechanical subsystem, boat by above-mentioned improvement
The interface simulation of electric subsystem, power subsystem, and above equipment state and relevant operation instruction response are completed, and will be electromechanical
Subsystem, avionics subsystem, power subsystem simulation result pass to other emulation modules.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 4:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in figs 1 to 6, earth station's emulation module
Including user's operation layer, data transfer layer；The user's operation layer includes basic operation module, monitoring module, trajectory planning mould
Block；The basic operation module include interface build, map denotation, status bar；The monitoring module include flight monitoring module,
Instruments subsystems module；The flight path programming module includes avionics operation module, instruments subsystems module；The data transfer layer
Including telemetering parsing module, remote control sending module.
It should be noted that by above-mentioned improvement, as shown in figure 3, ground simulation module is divided to two levels: user's operation layer
And data transfer layer.The data transfer layer of the ground simulation module realizes aerial mission pre-planning, receives and flies control emulation module
The telemetry intelligence (TELINT) sended over, after parsing on aobvious control interface real-time display, while to winged control emulation module and airborne subsystem
Emulation module sends telecommand.
Earth station's emulation module is controlled that emulation module exports as a result, providing the telemetry of unmanned plane to operator according to winged
Member completes remote signal framing and command logic to monitor aircraft state in real time, and is returned to and flies control emulation module, real
Now to the manual intervention of unmanned plane and control.
User's operation layer mainly realizes the function on software interface, by basic operation module, monitoring module, trajectory planning mould
Block composition.The basic operation module include interface build, the basic function modules such as map denotation, toolbar and status bar.Institute
It states monitoring module to be mainly used for being monitored user's operation and flight simulation operation, and monitoring data transmission to master control is emulated
Module is stored.The flight path programming module includes avionics operation module and instruments subsystems module, by adding and editing
Related avionics constitutes one group of complete legal route planning, then sends it to and fly control emulation module.
According to the structure chart of earth station's emulation module as shown in Figure 3, functional flow diagram as shown in figure 5, first to
Family operation layer realizes that the aobvious control of main flight, flight course planning show control, the integration of map track, instruments subsystems is shown after being initialized
Show and user's control.User's operation layer is checked whether in real time in real-time update data, if in real-time update according to the aobvious control of integration
Then illustrate that data transfer layer is showing control, map track, instruments subsystems real-time, interactive data with the aobvious control of main flight, flight course planning；
User completes data real-time update by the operation to aobvious control interface if non-real-time update.To sum up earth station's emulation module is main
Realize that telecommand is sent, telemetry parses the functions such as display, task pre-planning, two-dimensional map and Target track displaying.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 5:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in figs 1 to 6, the master control emulation module packet
Include sequentially connected human-computer interaction layer, data management layer, simulation process management control layer；The data management layer is for exchanging people
Data between machine alternation of bed and simulation process management control layer；The human-computer interaction layer is for simulation process management, emulation ginseng
Number setting, direct fault location, data storage；The simulation process management control layer includes body model and wind field environmental data management
Interface, sensing data management interface, subsystem data management interface；The body model and wind field environmental data management connect
Mouth, sensing data management interface, subsystem data management interface pass through data management layer respectively and connect with human-computer interaction layer.
It should be noted that the master control emulation module controls the operation of entire analogue system by above-mentioned improvement, realize
The periodic scheduling of each module of analogue system and operation control, and completion updates the setting of each system primary condition, malfunction, is imitative
The functions such as true data storage, including simulation parameter setting, the setting of atmospheric wind environment, sensor states injection and airborne subsystem
Direct fault location.
The master control emulation module includes sequentially connected human-computer interaction layer, data management layer, process management control layer；Institute
Stating human-computer interaction layer includes for process management, simulation parameter setting, direct fault location, data storage, as shown in Fig. 2, wherein mistake
Each module schedules of thread management and operational management, parameter setting include system initialization and the setting of atmospheric wind environment, direct fault location
Injection including sensor states and subsystem fault, data storage include data true form, parsing data and emulation data
Storage.
The data management layer is for the data exchange between human-computer interaction layer and process management control layer, the process pipe
Control layer is managed mainly to body model and wind field environmental data management interface, sensing data management interface, subsystem data pipe
Reason interface is scheduled the data management of emulation.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 6:
The present embodiment advanced optimizes on the basis of the above embodiments, and as shown in figs 1 to 6, system initialization includes following
Specific steps:
Step F11: the data structure first in initialization shared drive mechanism and airborne subsystem emulation module, including unmanned plane
Flight control data, electromechanical data, avionics data, dynamic date and other status datas；
Step F12: the aobvious control interface of initialization earth station's emulation module, master control emulation module, including static window, multi-page are aobvious
Show, aobvious control control, state resource；
Step F13: initialization timer, including emulation timing, continual command timer, map refreshing timer；
Step F14: map denotation and what comes into a driver's head up display function in initialization earth station's emulation module.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
Embodiment 7:
The present embodiment advanced optimizes on the basis of the above embodiments, as shown in figs 1 to 6, completes initiation parameter setting
Afterwards, master control emulation module starts timer, and timers trigger periodic duty to winged control emulation module and airborne subsystem emulate mould
Block flies control emulation module and airborne subsystem emulation module according to artificial tasks and motivates fault simulation, and outputs data to the overall situation
Data pool.Fly control emulation module and telemetry is sent to earth station's emulation module, the parsing of earth station's emulation module flies control emulation
The telemetry that module is sent, and data command is returned to and flies control emulation module.Global data pond has between all modules
Data information, and data information is sent to master control emulation module and is stored.
The other parts of the present embodiment are same as the previously described embodiments, and so it will not be repeated.
The above is only presently preferred embodiments of the present invention, not does limitation in any form to the present invention, it is all according to
According to technical spirit any simple modification to the above embodiments of the invention, equivalent variations, protection of the invention is each fallen within
Within the scope of.
Claims (9)
1. a kind of portable analogue system of unmanned plane, it is characterised in that: including flying control emulation module, airborne subsystem emulates mould
Block, earth station's emulation module, master control emulation module, the winged control emulation module, airborne subsystem emulation module, earth station's emulation
Module, master control emulation module are integrated in a PC machine, and mutual data communication is carried out by shared drive mechanism, complete
The test of unmanned plane normal flight, direct fault location test and air-dried disturb inject test；The shared drive mechanism constitutes global number
According to pond.
2. the portable analogue system of a kind of unmanned plane according to claim 1, it is characterised in that: the winged control emulation module
Including airborne winged control application layer, digital character module, servo action and sensor subsystem module；The airborne winged control application
Layer, digital character module, servo action and sensor subsystem module encapsulate in the form of dynamic link library, form airborne winged control
Application layer dynamic link library, digital character module dynamic link library, servo action and sensor subsystem module dynamic link library.
3. the portable analogue system of a kind of unmanned plane according to claim 1, it is characterised in that: the airborne subsystem is imitative
True module for respectively to electromechanical subsystem, avionics subsystem, the primary control program of power subsystem and relevant device interface and
State realizes excitation emulation.
4. the portable analogue system of a kind of unmanned plane according to claim 1, it is characterised in that: the earth station emulates mould
Block includes user's operation layer, data transfer layer.
5. the portable analogue system of a kind of unmanned plane according to claim 4, it is characterised in that: the user's operation layer packet
Include basic operation module, monitoring module, flight path programming module；The basic operation module include interface build, map denotation, shape
State column；The monitoring module includes flight monitoring module, instruments subsystems module；The flight path programming module includes avionics operation
Module, instruments subsystems module.
6. the portable analogue system of a kind of unmanned plane according to claim 4, it is characterised in that: the data transfer layer packet
Include telemetering parsing module, remote control sending module.
7. the portable analogue system of a kind of unmanned plane according to claim 1, it is characterised in that: the master control emulation module
Control layer is managed including sequentially connected human-computer interaction layer, data management layer, simulation process；The data management layer is for exchanging
Data between human-computer interaction layer and simulation process management control layer.
8. the portable analogue system of a kind of unmanned plane according to claim 7, it is characterised in that: the human-computer interaction layer is used
In simulation process management, simulation parameter setting, direct fault location, data storage.
9. the portable analogue system of a kind of unmanned plane according to claim 7, it is characterised in that: the simulation process management
Control layer includes that body model and wind field environmental data management interface, sensing data management interface, subsystem data management connect
Mouthful；The body model and wind field environmental data management interface, sensing data management interface, subsystem data management interface point
Not Tong Guo data management layer connect with human-computer interaction layer.
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| CN113867172A (en) * | 2021-09-07 | 2021-12-31 | 中国电子产品可靠性与环境试验研究所（（工业和信息化部电子第五研究所）（中国赛宝实验室）） | Avionics system fault simulation verification platform and method |
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