CN1167577C - Self-check test for test-control and electronic system of axle-shared double-rotary wing pilotless helicopter - Google Patents
Self-check test for test-control and electronic system of axle-shared double-rotary wing pilotless helicopter Download PDFInfo
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Abstract
The present invention discloses a self-check and test system for a test-control and electronic system of a coaxial pilotless helicopter with double rotary wings, which comprises a ground self-check and test part and an airborne self-check and test part. The ground self-check and test part is composed of a flight control stand, a ground monitoring computer, a main remote-control ground transmit device, an auxiliary remote-control ground device and a remote measuring ground receiving device, wherein the flight control stand is connected with the ground monitoring computer, the main remote-control ground transmitting device and the auxiliary remote-control ground device; the ground monitoring computer is connected with the main remote-control ground transmitting device and the remote measuring ground receiving device; the airborne part comprises an auxiliary remote-control airborne device, a main/auxiliary remote-control switcher, a remote-control airborne receiving device, a remote measuring airborne transmitting device, a navigation computer, an automatic stabilization system and a steering engine system; the remote-control airborne receiving device is connected with the navigation computer connected with the automatic stabilization system connected with the steering engine system; and the remote-control airborne receiving device is also connected with the remote measuring airborne transmitting device. The self-check and test system designed by the present invention can fully complete self test, self diagnosis and off-line fault test to a remote control subsystem. The present invention has active and effective effects for improving the reliability of the remote-control subsystem, prolonging time between failures, shortening fault corrective time, increasing repair rate, improving availability and ensuring the smooth completion of trial flight of a pilotless helicopter.
Description
Technical field
The present invention relates to a kind of self check, test macro, more particularly be meant a kind of self-checking device and self-checking method thereof that is used for axle-shared double-rotary wing pilotless helicopter observing and controlling and electronic system.
Background technology
The depopulated helicopter TT﹠C system develops to modularization and miniaturization day by day, therefore, and for the system test that guarantees its reliability service is also developed to module testing by early stage pointwise test; Simultaneously, because early stage test is to rely on engineering staff to rely on oneself rich experiences and knowwhy, and finish by some conventional instruments (as multi-meter, oscp etc.), this not only has very high requirement to the quality of technical personnel, and the speed of test is slow, of poor quality, under the increasingly sophisticated situation of TT﹠C system, this contradiction certainly will require people to study new method and technology is finished test job.
In order to ensure the depopulated helicopter safe flight, before start and after the shutdown, need TT﹠C system is tested.Test job in the past is on key point the test of TT﹠C system work one cardinal principle to be finished by rule of thumb by engineering staff, this test is system neither, not comprehensive yet, therefore be further to improve the unmanned helicopter flight safety performance, be necessary to design a test subsystem come to observing and controlling and electronic system carry out comprehensively, comprehensively, the test of system.
Summary of the invention
One of purpose of the present invention provides a kind of method that a kind of hardware and software that utilizes internal system to have self-test capability is finished system failure detection.
Two of purpose of the present invention provides the test method that a kind of coding and decoding to TT﹠C system, encryption and decryption and volume are separated the frame function.
Three of purpose of the present invention provide a kind of to sign indicating number synchronously, the test method of vertical sync circuit.
Four of purpose of the present invention provides a kind of self check, proving installation structure.
The object of the present invention is achieved like this: the self-checking device of axle-shared double-rotary wing pilotless helicopter observing and controlling and electronic system, it comprises ground self check, the airborne self check of proving installation partial sum, proving installation two parts, and wherein: (a) ground self check, proving installation are made up of flicon platform, ground monitoring computing machine, main remote controlled floor transmitter, auxiliary remote controlled floor equipment and remote measurement ground receiving equipment; The flicon platform connects ground monitoring computing machine, main remote controlled floor transmitter and auxiliary remote controlled floor equipment, and the ground monitoring computing machine connects main remote controlled floor transmitter and remote measurement ground receiving equipment; (b) airborne self check, proving installation are made up of auxiliary remote control airborne equipment, master/auxiliary remote control switch, remote control airborne receiving equipment, remote measurement airborne transmitting equipment, navigation computer, autostabilization system, steering gear system; The remote control airborne receiving equipment connects navigation computer, and navigation computer connects autostabilization system, and autostabilization system connects steering gear system, and the remote control airborne receiving equipment also connects the remote measurement airborne transmitting equipment.
Described self-checking device is at airborne dummy source of input, and ground segment can be tested separately.
Described self-checking device is in ground simulation source of input, and airborne portion can be tested separately.
Described self-checking device is to ground and airbornely can carry out self-checking simultaneously.
Described self-checking device is under the pilotless helicopter state of flight, and airborne equipment also can carry out self check separately.
Described command encoder is finished coding, encryption, the volume frame to instruction.
Described command decoder is finished instruction is separated frame, deciphering, decoding.
Described self check is to carry out fault detection according to software that weaves and equipment.
The self-checking method of axle-shared double-rotary wing pilotless helicopter observing and controlling and electronic system, (a) the self check part is made up of system layer, mechanical floor, functional layer and transport layer, and the system layer self check is recombinated by instruction process by the redundant realization of remote control dual-host backup, functional layer self check by system's big closed loop self check realization, mechanical floor self check, and redundancy realizes, the transport layer self check is realized by the error control hybrid coding; (b) part of detecting is made up of function test and circuit test, and function test is the volume of TT﹠C system to be separated frame, coding and decoding and three kinds of functions of encryption and decryption test, circuit test be to sign indicating number synchronously, vertical sync circuit tests.
The self check of described self-checking method system layer, produce telecommand at the flicon platform, send to main remote controlled floor equipment and ground monitoring computing machine simultaneously, main remote controlled floor equipment sends the telecommand of receiving to command encoder, and instruction encoded, encrypt, the volume frame is handled, signal after handling is sent to emitter to be launched, airborne remote control reception facilities will receive signal and send command decoder to, and signal separated frame, deciphering, decoding is handled, signal after handling is sent to telemetering transmiter to be launched, return the ground monitoring computing machine for detecting by the telecommand of telemetry link after, judge the mode of operation of remote control telemetering system according to result relatively unscrambling decoding.
It is according to main remoting subsystem in specific time whether signal output to be arranged that the self check of described self-checking method mechanical floor, master/auxiliary telecommand equipment are switched.
Whether the self check of described self-checking method mechanical floor, master/auxiliary telecommand equipment are switched is to have signal output and telecommand frame number whether to increase progressively 1 successively according to main remoting subsystem in specific time.
When described self-checking method is tested, the instruction of command encoder sends to spread spectrum transmitter, does not connect the command reception part of test equipment, and the command reception band spread receiver of command decoder, the telecommand source that does not connect test equipment constitutes a test loop of main remoting subsystem.
Described self-checking method, the telecommand of exporting by the original telecommand and instruction of remote control dummy source decoder compares the service condition of judging main remoting subsystem.
Advantage of the present invention is: system operation is simple, easy to use, can carry out comprehensive fault self-checking survey, selfdiagnosis and fault test to observing and controlling and electronic system, can improve the reliability of observing and controlling and electronic system.
Description of drawings
The present invention is described in further detail below in conjunction with drawings and Examples.
Fig. 1 is an illustrative view of functional configuration of the present invention.
Fig. 2 is a TT﹠C system schematic diagram of the present invention.
Fig. 3 is a self check schematic diagram of the present invention.
Fig. 4 is test philosophy figure of the present invention.
Fig. 5 is a test job block diagram of the present invention.
Fig. 6 is the frame unscrambling decoding redundancy structure schematic diagram of dynamically recombinating of separating of the present invention
Fig. 7 is a ground remote control testing of equipment block diagram of the present invention.
Fig. 8 is a ground telemetering equipment test block diagram of the present invention.
Fig. 9 is an airborne telecommand equipment test block diagram of the present invention.
Figure 10 is an airborne telemetry unit test block diagram of the present invention.
The specific embodiment
In the present invention, realize the high reliability of pilotless helicopter telecommand subsystem (subsystem be at the system of whole pilotless helicopter), in essence, mainly solve two problems, the first will obtain the long as far as possible mean time between failures (MTBF) (MTBF), this respect, main static state and the dynamic redundancy technology of adopting realizes; It two is to make average time for repair of breakdowns (MTTR) short as far as possible, and will shorten fault correction time (MTTR), at first will manage to shorten fault detection and time for positioning, mainly adopts test technology to realize here.Redundancy and test technology are two very important aspects in the reliability engineering, and it shortens fault correction time (MTTR) to prolonging time between failures (MTBF), improves repair rate, improves availability, and very active and effective effect is arranged.
The static redundancy technology is that the fault in the anti-locking system produces the general name of the various measures of mistake in the message structure of this system, its essence is and utilize redundant resource (redundancy that comprises resources such as hardware, software, time, information) that fault effects is covered, isolated and proofreaies and correct, thereby reach fault-tolerant purpose, its distinguishing feature is the structure that does not change system, and promptly the logical relation between the system unit interfixes.Mainly having adopted three two in system design of the present invention declares and error-correcting code technique.
The dynamic redundancy technology is comprehensive application fault detection and diagnosis, selective system redundancy structure, and four technology such as static redundancy design, reorganization and recovery that realize reach more a kind of comprehensive fault tolerant technique of strong fault tolerance ability." dynamically " be mainly reflected in as the redundant module number of system's normal resource along with detected number of faults what and change.System carries out work with standard module configuration under normal condition; In case and then the fault of detecting is recombinated and recovered, thereby eliminate the influence of fault, reach fault-tolerant purpose.Main application remoting dual-host backup redundancy structure is conciliate the redundancy structure design of dynamically recombinating of frame unscrambling decoding in system design of the present invention.
Test in the present invention mainly at system's offline condition, i.e. independent test remote controlled floor equipment, remote control airborne equipment and telecommand subsystem.By the test source of self-checking subsystem, can carry out certainty test and random test respectively to telecommand subsystem, mainly finish function test.
At self check of the present invention, test macro is that three kinds of technology are carried out design-calculated more than the integrated use, and wherein System self-test has used static and dynamic redundancy technology, and test technology has been used in system test.Facts have proved that this self-checking subsystem has important effect for fault detection, diagnosis and the shielding of telecommand subsystem, it can improve the reliability of telecommand subsystem, thereby guarantees finishing smoothly of pilotless helicopter aerial mission.
Self-checking device in the present invention, it comprises ground self check, the airborne self check of proving installation partial sum, proving installation two parts.(a) ground self check, proving installation are made up of flicon platform, ground monitoring computing machine, main remote controlled floor transmitter, auxiliary remote controlled floor equipment and remote measurement ground receiving equipment; The flicon platform connects ground monitoring computing machine, main remote controlled floor transmitter and auxiliary remote controlled floor equipment, and the ground monitoring computing machine connects main remote controlled floor transmitter and remote measurement ground receiving equipment; (b) airborne self check, proving installation are made up of auxiliary remote control airborne equipment, master/auxiliary remote control switch, remote control airborne receiving equipment, remote measurement airborne transmitting equipment, navigation computer, autostabilization system, steering gear system; The remote control airborne receiving equipment connects navigation computer, and navigation computer connects autostabilization system, and autostabilization system connects steering gear system, and the remote control airborne receiving equipment connects the remote measurement airborne transmitting equipment.
In self-checking method of the present invention, the contriver narrates detection failure from four levels, is divided into two parts from self check and test again and is elaborated.The self check part is made up of system layer, mechanical floor, functional layer and transport layer, and the system layer self check is recombinated by instruction process by the redundant realization of remote control dual-host backup, functional layer self check by system's big closed loop self check realization, mechanical floor self check, and redundancy realizes, the transport layer self check is realized by the error control hybrid coding; Part of detecting is made up of function test and circuit test, and function test is the volume of TT﹠C system to be separated frame, coding and decoding and three kinds of functions of encryption and decryption test, circuit test be to sign indicating number synchronously, vertical sync circuit tests.Please referring to shown in Figure 1.
System self-test is meant that the hardware and software that utilizes internal system to have self-test capability finishes a kind of method of system failure detection.The present invention drops into certain redundant resource promptly to exceed the required resource of system's rated functional in system, system is in operation can not only the desired information of output function, and can export some extra information, fault has taken place in et out of order or those parts of indicating system to be used for indicating system.Its verification and monitor the mode of operation of each subsystem automatically, and can indication is provided or get rid of automatically to the user when detecting subsystem fault is arranged so that the user can in time find and safeguard, is carried out work with the maintenance system under good state.
The design of System self-test by the big closed loop self check of system, remote control dual-host backup redundancy structure, separate frame unscrambling decoding four parts such as redundancy structure and error control of dynamically recombinating and form.This four part is finished self check to telecommand subsystem jointly from four levels respectively: the big closed loop self check of system is from system layer; Remote control dual-host backup redundancy structure slave unit layer; Separate the frame unscrambling decoding and dynamically recombinate redundancy structure from functional layer; Error control is from transport layer.
Do big closed loop self check according to the telecommand subsystem information flow, comprehensively come the judgement system that trouble free is arranged from overall performance.
The flicon platform produces telecommand, send to main remote controlled floor equipment and ground monitoring computing machine simultaneously, main remote controlled floor equipment sends the telecommand of receiving to command encoder, and frame is encoded, encrypts, compiled in instruction handle, the signal after handling is sent to emitter launch.Airborne remote control reception facilities will receive signal and send command decoder to, and signal is separated frame, deciphering, decoding processing, the signal after handling be sent to telemetering transmiter launch.Return the ground monitoring computing machine for detecting by the telecommand of telemetry link after with unscrambling decoding.Judge the mode of operation of remote control telemetering system according to result relatively.
Through after so big closed loop, coexistence has three kinds of telecommands under the state in the ground monitoring computing machine: telecommand and passback telecommand before original telecommand, the transmission, these three kinds of instructions have identical instruction sequence number, can compare detection.
Like this, utilize descending telemetry link and increase remote measurement way that telecommand is returned, thereby finish the big closed loop self check of whole telecommand subsystem.By big closed loop self check, can judge accurately whether telecommand subsystem is working properly.
Remote control dual-host backup redundancy structure is a kind of dynamic redundancy technology, wherein main remoting subsystem is the whole subsystem from the command encoder to the command decoder that comprises channel, auxiliary remoting subsystem be comprise channel from auxiliary remote controlled floor equipment to the whole subsystem of auxiliary remote control airborne equipment.Both functions are different, and frequency is also different, and the former is the main actuating system of telecommand subsystem, can finish the desired all functions of telecommand subsystem, and the latter are standby systems, only are used to finish simple unmanned plane during flying attitude control.
Master/auxiliary remote control switch judges at first whether main remoting subsystem has fault, and whether basis for estimation has signal output for main remoting subsystem in specific time, if do not have, then thinking has fault, otherwise trouble free.Because in the taking a flight test of unmanned plane, have strong jamming accidentally and cause interrupted communication link or main remoting subsystem to crash, in this case, main remoting subsystem no-output, so with it as basis for estimation.If there is not fault, then judged whether the remote control switching command, because, need switch master/auxiliary remote control artificially sometimes for interference or the main remoting subsystem of avoiding on main remoting subsystem frequency is degradating trend.If there is not switching command, then normally continue.If fault is arranged or switching command is arranged, then switch to auxiliary remoting subsystem.Whether simultaneously, under the prerequisite that (non-artificial) switches automatically, also need failure judgement to recover, basis for estimation is whether main at the appointed time remoting subsystem has persistent signal output equally.If recover, then switch back main remoting subsystem, otherwise continue.Time-delay in the handoff procedure and to change fully independently be to establish for level and smooth controlling quantity makes the not saltus step of reason controlling quantity and out of control of unmanned plane.
Remote control dual-host backup redundancy structure adopts is reinforcement backup reorganization in the dynamic redundancy technology.So-called reinforcement backup reorganization, the one group of out-of-run at ordinary times module (as auxiliary remoting subsystem) that has been meant system configuration is as the backup of operational module (as main remoting subsystem).In fault back (as main remoting subsystem no-output) taking place, triggers backup module (as switching by master/auxiliary remote control switch) by fault detection, and replace failed module with it.
Because remote control dual-host backup redundancy structure is the fault self-checking at master/auxiliary remoting subsystem, so it belongs to the self check of mechanical floor.
Reorganization is to realize one of four basic steps of dynamic redundancy technology, and its basis is the redundant of structure and based on the fault detection and diagnosis of redundancy structure.Separating dynamically recombinate the reinforcement backup reorganization in the redundancy structure of frame unscrambling decoding is meant separating frame, deciphering, deciphering these three functional modules and back up respectively, as shown in Figure 6, each module all has two backups, airborne command and control system can write down the mode of operation of each module simultaneously, come judge module whether fault is arranged according to mode of operation, if have, then it is switched to another backup module by airborne command and control system, thus the shielding fault.For example, if deciphering is out of order then airborne command and control system " toggle switch K2 ".
Separate the slow degradation reorganization that the frame unscrambling decoding dynamically recombinates in the redundancy structure and be meant when three functional modules of airborne command and control system break down after not have the switching of replacement, whenever detect one and excise one, thereby the function of system and performance are progressively demoted.Be each function module design one short circuit path, after two backup modules of certain functional module exhaust, break down again and just can only select excision to change function, the short circuit that is about to.
The error control of telecommand subsystem is made up of two parts: declare with cyclic code for three two and encode.Three two are declared actual is a kind of of duplication code, and it is whether two frames to be arranged or the identical purpose that reaches fault self-checking or shield the fault that occurs in a certain frame more than two frames in the three frame telecommands by judging.What adopt in the telecommand subsystem is shorten cyclic codes (12,8), and its minimum distance is 3, can correct 1 symbol error.Because error control mainly is to carry out fault self-checking and shielding at the Channel Transmission sign indicating number, so this is the self check of transport layer.
Pass through the System self-test of system layer, mechanical floor, functional layer and this four levels of transport layer in the present invention, well finished the fault self-checking of telecommand subsystem has been surveyed and selfdiagnosis, play important effect for timely discovery fault, accurate fault localization and timely trouble-shooting, thereby improved the reliability of telecommand subsystem.
System test is carried out under the telecommand subsystem offline condition, and off line has two layers of meaning: the one, and telecommand subsystem and Unmanned Aircraft Systems (UAS), telemetry subsystem break away from; The one, telecommand subsystem internal ground and airborne equipment are separately promptly tested telecommand subsystem, command encoder and command decoder separately.
Remote control dummy source simulated flight control desk sends telecommand, has two types: the one, and the certainty telecommand is used for the disposition of test instruction coder to some specific telecommand (as complete 0, complete 1); The 2nd, telecommand produces by a random code generator at random, is used for command encoder input that is virtually reality like reality, test instruction coder mode of operation in this case.
Command encoder carries out instruction process after receiving telecommand, according to the control command of remote control dummy source telecommand is encoded, is encrypted and compiles and will instruct transmission behind the frame.Can be the combination of these 3 kinds of functions, instruct transmission then.Owing to be the independent test command encoder,, equally also separate frame, deciphering and decoding accordingly according to the control command of remote control dummy source so output directly connects the input of telecommand subsystem test equipment command reception.Send the original telecommand of comparator and remote control dummy source to compare after handling the telecommand of reception, thereby obtain the mode of operation of command encoder.Command decoder is mainly finished command reception, separates frame, deciphering and decoding, the instruction distribution.As shown in Figure 4.
Telecommand in the analog transmission of telecommand source stream has certainty and two kinds of telecommands at random equally.The difference of it and remote control dummy source is remote control dummy source output control command and undressed telecommand, and the output of telecommand source is through compiling the telecommand of frame, encryption or coding.
Command reception part in the command decoder is separated frame, deciphering or decoding according to control command to the telecommand that receives, send in the telecommand subsystem test equipment by instruction distribution part again, compare with original telecommand in the telecommand source.Simultaneously, the sign indicating number in the command reception part synchronously and frame synchronizing signal also be drawn out to test equipment and carry out the synchronous and frame synchronization detection of sign indicating number.At last, all comparative results, testing result show by the display part of test equipment.
Telecommand subsystem comprises four parts such as command encoder, spread spectrum transmitter, band spread receiver and command decoder, also comprises auxiliary remoting subsystem, master/auxiliary remote control switch, signal processor and remote control/program switch.Here only narrate the test of main remoting subsystem.
During test, the instruction of command encoder sends to spread spectrum transmitter, the command reception part that does not connect test equipment, and the command reception band spread receiver of command decoder, the telecommand source that does not connect test equipment, so just constituted a test loop to whole main remoting subsystem, the telecommand of exporting by the original telecommand and instruction of remote control dummy source decoder compares the service condition that can get whole main remoting subsystem.
Self-checking subsystem of the present invention can be finished fault self-checking survey, selfdiagnosis and the off line fault detection test to telecommand subsystem all sidedly.For the reliability that improves telecommand subsystem, prolong time between failures (MTBF), shorten fault correction time (MTTR), improve repair rate, improve availability, what guarantee the pilotless helicopter aerial mission has finished very active and effective effect smoothly.
Claims (14)
1. the self-checking device of axle-shared double-rotary wing pilotless helicopter observing and controlling and electronic system, it comprises ground self check, the airborne self check of proving installation partial sum, proving installation two parts, it is characterized in that: (a) ground self check, proving installation are made up of flicon platform, ground monitoring computing machine, main remote controlled floor transmitter, auxiliary remote controlled floor equipment and remote measurement ground receiving equipment; The flicon platform connects ground monitoring computing machine, main remote controlled floor transmitter and auxiliary remote controlled floor equipment, and the ground monitoring computing machine connects main remote controlled floor transmitter and remote measurement ground receiving equipment; (b) airborne self check, proving installation are made up of auxiliary remote control airborne equipment, master/auxiliary remote control switch, remote control airborne receiving equipment, remote measurement airborne transmitting equipment, navigation computer, autostabilization system, steering gear system; The remote control airborne receiving equipment connects navigation computer, and navigation computer connects autostabilization system, and autostabilization system connects steering gear system, and the remote control airborne receiving equipment also connects the remote measurement airborne transmitting equipment.
2. self-checking device according to claim 1 is characterized in that: import an airborne self check, test simulation source, ground self check, proving installation part can be tested separately.
3. self-checking according to claim 1 is characterized in that: import a ground self check, test simulation source, airborne self check, proving installation part can be tested separately.
4. self-checking device according to claim 1 is characterized in that: ground self check, proving installation and airborne self check, proving installation can carry out self-checking simultaneously.
5. self-checking device according to claim 1 is characterized in that: under the pilotless helicopter state of flight, airborne equipment also can carry out self check separately.
6. self-checking device according to claim 1 is characterized in that: command encoder is finished coding, encryption, the volume frame to instruction.
7. self-checking device according to claim 1 is characterized in that: command decoder is finished instruction is separated frame, deciphering, decoding.
8. self-checking device according to claim 1 is characterized in that: self check is to carry out fault detection according to software that weaves and equipment.
9. the self-checking method of axle-shared double-rotary wing pilotless helicopter observing and controlling and electronic system, it is characterized in that: (a) the self check part is made up of system layer, mechanical floor, functional layer and transport layer, and the system layer self check is recombinated by instruction process by the redundant realization of remote control dual-host backup, functional layer self check by system's big closed loop self check realization, mechanical floor self check, and redundancy realizes, the transport layer self check is realized by the error control hybrid coding; (b) part of detecting is made up of function test and circuit test, and function test is the volume of TT﹠C system to be separated frame, coding and decoding and three kinds of functions of encryption and decryption test, circuit test be to sign indicating number synchronously, vertical sync circuit tests.
10. self-checking method according to claim 9, it is characterized in that: the system layer self check, produce telecommand at the flicon platform, send to main remote controlled floor equipment and ground monitoring computing machine simultaneously, main remote controlled floor equipment sends the telecommand of receiving to command encoder, and instruction encoded, encrypt, the volume frame is handled, signal after handling is sent to emitter to be launched, airborne remote control reception facilities will receive signal and send command decoder to, and signal separated frame, deciphering, decoding is handled, signal after handling is sent to telemetering transmiter to be launched, return the ground monitoring computing machine for detecting by the telecommand of telemetry link after, judge the mode of operation of remote control telemetering system according to result relatively unscrambling decoding.
11. self-checking method according to claim 9 is characterized in that: it is according to main remoting subsystem in specific time whether signal output to be arranged that mechanical floor self check, master/auxiliary telecommand equipment are switched.
12. self-checking method according to claim 9 is characterized in that: whether mechanical floor self check, master/auxiliary telecommand equipment are switched is to have signal output and telecommand frame number whether to increase progressively 1 successively according to main remoting subsystem in specific time.
13. self-checking method according to claim 9, it is characterized in that: during test, the instruction of command encoder sends to spread spectrum transmitter, the command reception part that does not connect test equipment, and the command reception band spread receiver of command decoder, the telecommand source that does not connect test equipment constitutes a test loop of main remoting subsystem.
14. self-checking method according to claim 9 is characterized in that: the telecommand by the output of the original telecommand and instruction of remote control dummy source decoder compares the service condition of judging main remoting subsystem.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB021006296A CN1167577C (en) | 2002-01-29 | 2002-01-29 | Self-check test for test-control and electronic system of axle-shared double-rotary wing pilotless helicopter |
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| CNB021006296A CN1167577C (en) | 2002-01-29 | 2002-01-29 | Self-check test for test-control and electronic system of axle-shared double-rotary wing pilotless helicopter |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100465834C (en) * | 2007-02-01 | 2009-03-04 | 北京航空航天大学 | System and method for supporting maintenance of air-ground integrated flight device |
| CN101296019B (en) * | 2008-05-27 | 2012-05-23 | 北京航空航天大学 | Relay repeater system for unmanned helicopter |
| CN101916111A (en) * | 2010-08-19 | 2010-12-15 | 中国航空工业第六一八研究所 | Electric drive flight control system structure |
| CN102508455B (en) * | 2011-09-26 | 2014-07-09 | 深圳市锦瑞电子有限公司 | Control method and system of biochemical analyzer |
| CN102553258B (en) * | 2012-03-02 | 2013-12-11 | 北京航空航天大学 | Switcher of model airplane remote controller |
| CN104158558B (en) * | 2014-07-15 | 2016-04-06 | 清华大学 | A kind of helicopter satellite spectrum-spread communication signaling method |
| CN105664503A (en) * | 2016-03-16 | 2016-06-15 | 中山大学 | Unmanned aerial vehicle device based on multiplayer remote control and implementing method |
| US10001776B2 (en) * | 2016-03-21 | 2018-06-19 | The Boeing Company | Unmanned aerial vehicle flight control system |
| CN107014634B (en) * | 2017-04-26 | 2023-09-01 | 歌尔科技有限公司 | Function detection device and method for steering engine |
| CN109723314A (en) * | 2017-10-30 | 2019-05-07 | 北京精密机电控制设备研究所 | A kind of airplane cargo doors electro-mechanical driving device based on FPGA control |
| CN111413862A (en) * | 2020-03-31 | 2020-07-14 | 涵涡智航科技(玉溪)有限公司 | Unmanned aerial vehicle rocker redundancy control system and control method thereof |
| CN114577241A (en) * | 2022-03-02 | 2022-06-03 | 北京卫星环境工程研究所 | Optical fiber multi-module multi-parameter airborne independent test method |
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