CN117330103A - Automatic testing method and system for modularized micro-inertia measurement assembly - Google Patents

Abstract

The invention discloses an automatic test method and system for a modularized micro-inertia measurement assembly, comprising the steps of performing modularized development on test functions under different test states according to different test project requirements in the micro-inertia measurement assembly to form different test function modules; packaging the test function module and a driver of the corresponding test item equipment together to form a test item code module which can be called by the test stand, and packaging to form a program format; based on the test steps in the test stand engine adjustment management program format, different client test sequences are formed by combination, and automatic tests are carried out on micro inertial measurement units of different models, so that the problems of high manual dependency degree, low test efficiency, incomplete test coverage, low automation degree and the like in the traditional test method at present are solved.

Description

Automatic testing method and system for modularized micro-inertia measurement assembly

Technical Field

The invention belongs to the technical field of automatic test systems, and relates to an automatic test method and an automatic test system for a modularized micro-inertia measurement assembly.

Background

Along with the rapid increase of automatic test tasks of multi-variety and small-batch micro-inertia measurement assemblies, the automatic, efficient and standard micro-inertia measurement assembly test demands are increasingly increased, but in the current micro-inertia assembly test, the quality control of products has higher dependence on manual capability quality, has certain subjectivity, lacks standardized test flow, and generally has the problems of low calibration test efficiency, incomplete test coverage, low automation degree and the like.

Most of the design starting points of the traditional automatic test system of the micro inertial measurement unit are oriented to the test flow and test items of the tested object, the test flow and test items are written from top to bottom according to the process, all test parameters, program control instructions, test results and the like are built in test software, and certain limitations exist in application objects. When the tested object changes or the test item is changed, the software needs to be re-developed and compiled, the flexibility of the test software is poor, the test debugging period and difficulty of operators are high, and a great amount of time and cost are wasted in the mastering process. Meanwhile, along with the increase of the yield of the micro inertial measurement unit, the change of model types and the complexity of test scenes, the software platform built by the traditional automatic test method has the defects of huge volume redundancy, long development period of test software, difficult program change, high software maintenance cost, poor universality, flexibility and portability of a test system and the like.

Disclosure of Invention

Aiming at the problems existing in the prior art, the invention provides an automatic test method and an automatic test system for a modularized micro-inertia measurement assembly, which are based on the modular design of a test method by a TestStand engine, complete test project writing by a test project code module, arrange and combine test steps to form test sequences under different test products and different test scenes, realize full-automatic control and report generation of the test flow of the micro-inertia measurement assembly, improve the completeness and robustness of the automatic test system for the micro-inertia measurement assembly, and solve the problems of high manual dependency, low test efficiency, incomplete test coverage, low automation degree and the like in the traditional test method.

The invention is realized by the following technical scheme:

an automatic test method for a modularized micro inertial measurement unit comprises,

according to different test project requirements in the micro inertial measurement unit, carrying out modularized development on test functions under different test states to form different test function modules;

packaging the test function module and a driver of the corresponding test item equipment together to form a test item code module which can be called by the test stand, and packaging to form a program format;

based on the test stage engine, the test steps in the management program format are adjusted, input and output parameters and transmission channels between the test steps are designed according to different test flows of micro inertial measurement units of different models, different conditions or circulation sentences are designed according to test scenes, and different client test sequences are formed through combination;

and selecting test flows required by the micro inertial measurement units of different models according to the test sequences of the client, and automatically testing the micro inertial measurement units of different models after corresponding configuration files are generated.

Preferably, the different test items in the micro inertial measurement unit are managed in a grading manner, and the specific process is as follows: and establishing a storage framework for the micro-inertia measurement assembly in different test projects, and managing the micro-inertia measurement assembly step by step according to the catalogue of the model number, the batch number, the serial number, the test type, the test time and the operator of the micro-inertia measurement assembly.

Preferably, the different test items comprise normal temperature calibration, temperature compensation calibration, IMU temperature setting zero bias stability, IMU zero bias repeatability, gyro scale coefficient nonlinear calibration, gyro cross coupling, gyro resolution, gyro threshold, addition resolution and addition threshold.

Preferably, the specific process of forming the different test function modules is as follows:

according to the requirements of different test projects, the test functions in different test states are developed in a modularized mode and divided into different test function modules, each test function module is called in a debuggeable state, and after corresponding test instructions are input to complete the corresponding test projects, the debugged test function module is obtained.

Preferably, the specific process of forming the program format is as follows:

packaging the debugged test function module and a driver of the corresponding test item equipment together to form a test item code module which can be called by a module adapter of the test stand, and packaging to form a program format; the program format is in the form of a VI or DLL.

Preferably, the specific process of forming the different client test sequences is as follows:

the test steps of test item code modules in the management program format are adjusted by using a TestStand engine, input and output parameters and transmission channels between the test steps are designed according to test flows of micro inertial measurement units of different types, different conditions or circulation sentences are designed according to test scenes, the test steps are arranged and combined through a sequence editor in the TestStand engine to form client test sequences of micro inertial measurement units of different test products and different test scenes, and corresponding client test sequences are selected during testing to complete automatic testing of the micro inertial measurement units of different types.

Preferably, the client test sequence includes a client main sequence and a general operation, and a sequential process model framework is carried on the periphery of the client main sequence, and the client main sequence and the general operation are isolated through the sequential process model framework.

Preferably, the client master sequence is formed by combining the sequential steps of catalog creation, interface configuration, initialization configuration and test item selection with the cyclic steps of executing data collected by the test items, data analysis calculation and test results, and the general operations comprise user management, user interface and report generation.

Preferably, the specific process of automatically testing the micro inertial measurement units of different models is as follows:

user login is carried out in the graphical configuration interface, the authority of different users is controlled by adopting a user management strategy, the debugging and operation functions are selectively opened through different user names and passwords, after the operation interface corresponding to the authority is entered, a client test sequence to be executed is selected, and the operation of the client test sequence is started; setting serial port communication parameters and initialization, setting different calibration items, test items and different acquisition times and parameter values according to basic characteristics and target precision requirements of the micro inertial measurement unit in a test item parameter configuration interface aiming at test requirements of different micro inertial measurement units, generating corresponding configuration files, carrying out automatic flow test of the micro inertial measurement unit according to the configuration files after determining configurable items, recording analysis test results, and storing the analysis test results through a report.

A modular micro inertial measurement unit automatic test system, comprising,

the modularized development module is used for performing modularized development on the test function under different test states according to different test project requirements in the micro inertial measurement unit to form different test function modules;

the test item packaging module is used for packaging the test function module and the corresponding driver of the test item equipment together into a test item code module which can be called by the test stand and packaging to form a program format;

the adjustment management module is used for adjusting the testing steps in the management program format based on the TestStand engine, designing input and output parameters and transmission channels among the testing steps according to different testing flows of micro inertial measurement units of different models, designing different conditions or circulating sentences according to testing scenes, and combining to form different client test sequences;

and the test file configuration module is used for selecting test flows required by the micro inertial measurement units of different models according to the client test sequence, and automatically testing the micro inertial measurement units of different models after corresponding configuration files are generated.

Compared with the prior art, the invention has the following beneficial technical effects:

the invention provides an automatic test method and system for a modularized micro inertial measurement unit, which are based on a TestStand engine to manage complex automatic test flow and test resources, configure different test sequences and perfect a software architecture so as to meet the automatic requirements of different test types of products; the method solves the problems of high artificial dependence degree, low test efficiency, incomplete test coverage, low automation degree and the like in the traditional test method. According to the method, based on the test stand engine, modularized design is carried out on different test states of the micro inertial measurement unit, various general test project code modules are developed, test item flows of different types of inertial measurement units are configured through sequence combination, synchronous test of a plurality of micro inertial measurement unit to-be-tested pieces is supported, each to-be-tested piece can be independently tested in a relevant scene, test documents and test results are automatically arranged and generated, and a test report is rapidly output through a network sharing printer. And finally, when facing to operators, the operation is simple and the use is convenient.

The method provided by the invention has good robustness and expandability, the functional coverage of automatic test of the micro inertial measurement unit is more comprehensive, the high efficiency and coverage of product test are improved, customized test can be carried out on different products, the feasibility of the products is rapidly verified, and the applicability of a test system is increased. The invention greatly improves the testing efficiency of the micro inertial measurement unit, reduces the manual participation time and the mastering period, shortens the software development period, reduces the complexity of testing software development, further reduces the production cost of products, and increases the economic value of multi-variety and small-batch mass production products.

Drawings

FIG. 1 is a block diagram of a modular micro inertial measurement unit automatic test equipment;

FIG. 2 is a modular test item for automatic testing of micro inertial measurement units according to the present invention;

FIG. 3 is a diagram of components of a modular design system based on TestStand provided by the present invention;

FIG. 4 is a diagram of the overall architecture of a modular automatic test sequence process model provided by the present invention;

FIG. 5 is a software flow diagram of a modular micro inertial measurement unit automatic test method of the present invention;

FIG. 6 is a flow chart of an automated test of a modular micro inertial measurement unit according to the present invention.

Detailed Description

The invention will now be described in further detail with reference to specific examples, which are intended to illustrate, but not to limit, the invention.

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

The invention provides an automatic test method for a modularized micro-inertia measurement assembly, which builds an automatic test system platform for the micro-inertia measurement assembly, uses a graphical operation interface, has test management and execution functions, and has the following key steps and characteristics as shown in fig. 6:

step 1: the device used in the micro inertial measurement unit test is written with a driving program according to the device type, and test devices such as a three-axis turntable, a temperature box, a power supply, a serial port communication control module and a data acquisition module can be configured and called;

step 2: developing a graphical operation interface: forming a graphical operation interface for inertial group parameter configuration by the operation interface, serial port parameter configuration, test item selection and test instruction configuration;

step 3: hierarchical management of different test items in a micro inertial measurement unit: establishing a storage architecture for the micro inertial measurement unit in different test projects, and managing the micro inertial measurement unit step by step according to the type-batch number-test type-test time-operator catalog of the micro inertial measurement unit, so as to be convenient for inquiring and tracing the test state;

step 4: modularized development is carried out on different test items such as normal temperature calibration, temperature compensation calibration, IMU temperature setting zero bias stability, IMU zero bias repeatability, gyro scale coefficient nonlinear calibration, gyro cross coupling, gyro resolution, gyro threshold value, addition resolution, addition threshold value and the like, each test function module is called in a debugged state, and corresponding test instructions are input to require completion of the corresponding test items;

step 5: packaging the debugged test function module and the corresponding device driver together into a test item code module which can be called by the TestStand module adapter, and packaging to form program formats such as VI, DLL and the like;

step 6: based on the test stage engine, the test steps in the management program format are adjusted, input and output parameters and transmission channels between the test steps are designed according to different test flows of micro inertial measurement units of different models, different conditions or circulation sentences are designed according to test scenes, and different client test sequences are formed through combination;

step 7: calling a general operation and a client main sequence by using a sequential process model framework to realize an automatic test flow;

step 8: and generating test results and storing reports.

Example 1

The invention provides an automatic test method for a modularized micro-inertia measurement assembly, which is based on a test stand engine to carry out modularized design on the test method, test project writing is completed through a test project code module, and test steps are arranged and combined to form different test products and client test sequences under different test scenes, so that full-automatic control and report generation of the test flow of the micro-inertia measurement assembly are realized, and the completeness and robustness of an automatic test system for the micro-inertia measurement assembly are improved. The original test mode and test platform development mode are required to be changed, the modularized automatic test method and system are designed by combining with the Teststand development framework of the virtual instrument, a complete and adjustable automatic test flow is formed, more micro inertial measurement unit test scenes are flexibly covered, the requirements on human resources and capability quality are reduced, and the test efficiency is improved.

The invention provides a modular micro-inertia measurement assembly automatic test system, which is shown in figure 1 and comprises a main control computer, a three-axis position rate turntable table body, a control unit, a product clamp, a plurality of micro-inertia measurement assembly to-be-tested pieces, a printer and a database at a server side. The high-performance ground main control computer effectively, orderly and continuously collects data of the micro inertial measurement unit on the basis of guaranteeing the control of external equipment and environment, and performs functional works such as data analysis and index calculation on the data by using the data collected under different test states. The outer frame shaft of the three-axis turntable is in a speed and position control mode, the middle frame and the inner frame are in a position control mode, a computer sends an instruction to the turntable through a serial port RS232 and receives data in a remote control mode, different angular speed information and acceleration information are set, and automatic driving control of the three-axis position speed turntable is achieved. The to-be-measured pieces of the micro inertial measurement units are fixed on the three-axis turntable through the product clamp, and the computer exchanges data through the RS422 universal board card, so that data acquisition of the micro inertial measurement units in different test scenes is realized. The collected data, the test result, the corresponding configuration file and the user management file are synchronized to the database of the server at regular intervals, so that the test data can be conveniently inquired, used and traced. In the test process, the computer forms a corresponding test report according to the test flow, and the test report is rapidly output through the network sharing printer.

The modularized test items for automatically testing the micro inertial measurement unit provided by the invention are shown in figure 2, and comprise test items such as normal temperature calibration, temperature compensation calibration, IMU (inertial measurement unit) constant temperature zero bias stability, IMU zero bias repeatability, gyro scale coefficient nonlinear calibration, gyro cross coupling, gyro resolution, gyro threshold, addition resolution, addition threshold and the like. In the graphical configuration interface, a checking mode can be adopted to determine whether to perform the test, configuration parameters are automatically popped up for a user to perform test configuration, and a corresponding configuration file is generated for storage. When testing is performed, the configuration file can be selected for testing. The test items cover various test scenes of the current micro inertial measurement unit, so that all the test items can be fully covered as much as possible, and the test items can be increased or decreased later.

The design of the configuration file can meet the configurability of different test requirements, reduces manual participation in turntable control, forms an automatic control flow, and is convenient for subsequent parameter inquiry configuration.

The system component diagram for carrying out modularized design on the test method based on the TestStand engine is shown in figure 3, and the interrelationship among the components is shown. The TestStand engine is the most core part of the modular micro-inertia measurement assembly automatic test system, supports the automatic service function of the whole system, and is accessed by a client (a sequence editor, an operation interface and a module adapter) through an application program interface API to create, edit and execute or debug sequences.

The sequence editor is the most main development tool for developing test sequences, and test developers develop test-end main sequences according to test flows in the sequence editor, and arrange different test steps in sequence to form a client test sequence.

The operation interface is operated by production line operators, and can run and debug the main test sequence of the client according to different user management authorities, and display the test result.

The test project code module is the minimum unit of the test flow, corresponds to different test scenes of the micro inertial measurement unit, calls and executes different test project code modules by means of the module adapter, provides a channel between the test stand engine and the code module, and can be debugged and developed in the application environment of the corresponding code module.

The invention provides a sequential process model overall architecture diagram of a modular micro inertial measurement unit automatic test method, as shown in FIG. 4.

The method adopts a modularized sequential process model framework, and combines user management, user interface and report generation of general operation and a client main sequence together to form a whole test sequence. The purpose of adopting the sequential process model framework is to isolate the general operation from the client main sequence, the general operation is managed by the TestStand software, the general operation is not changed under different test types and scenes, the main sequence steps closely related to the automatic test of the micro inertial measurement unit are completed in a code module, and under different test scenes of different products, software developers can secondarily develop or increase and decrease the test project code module, so that the software developers can concentrate on the realization of the test project code module.

The client-side main sequence is formed by combining sequence steps of catalog creation, interface configuration, initialization configuration and test item selection with circulation steps of test item collection, data analysis and calculation and test result execution. Aiming at different test requirements of different test products, the configurable design of a plurality of requirements such as different test items, different time requirements of the same test item, different index requirements of the same test item and the like is realized by using sequential steps, so that the method is applicable to more model requirements; and collecting and storing data according to the configurable design by using the circulating steps, and realizing full-automatic generation and synchronization of test results by analyzing and interpreting related processes and data results.

The software flow chart of the automatic test method of the modularized micro inertial measurement unit is shown in fig. 5. User login is firstly carried out on a user interface, rights of different users are controlled by adopting a user management strategy, and debugging and running functions are selectively opened through different user names and passwords. After entering the operation interface of the corresponding authority, selecting the test sequence to be executed, and starting to run the test sequence.

The hardware initialization configuration comprises serial port communication parameter configuration, initialization and parameter configuration of test items, different calibration items, test items, different acquisition time and parameter values are set according to basic characteristics and target precision requirements of different test requirements in a test item parameter configuration interface, corresponding configuration files are generated, and options of the configurable items are diversified to adapt to more test requirements.

After the configurable item is determined, the micro inertial measurement unit automated flow test is performed according to the configuration file. In each test item of the micro inertial measurement unit, the steps of turntable related control, data acquisition and storage, related test item data analysis and test result generation are required to be carried out, and after the test requirement of a test state is met, the next test item is entered. The interface data is cleaned up and exited after all test items are completed.

The modularized development of all the test steps is realized in a code module of the LabWindows/CVI platform and is packaged into a DLL library which can be called by a module adapter, a graphical configuration interface is also packaged in the DLL library, a TestStand engine uses the module adapter to correctly identify and execute the code module, the test steps are combined in a sequential process model to form an automatic test sequence, and a TestStand test flow language is used for loading commands to complete the test process. Meanwhile, the code module DLL library can be linked with a TestStand sequence editor, and enters a development environment to modify compiling for debugging.

It is noted that the terms "comprises" and "comprising," and any variations thereof, in the description and claims of the present invention and in the foregoing figures, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The above description is only of the preferred embodiments of the present invention, and is not intended to limit the present invention in any way; those skilled in the art will readily appreciate that the present invention may be implemented as shown in the drawings and described above; however, those skilled in the art will appreciate that many modifications, adaptations, and variations of the present invention are possible in light of the above teachings without departing from the scope of the invention; meanwhile, any equivalent changes, modifications and evolution of the above embodiments according to the essential technology of the present invention still fall within the scope of the present invention.

Claims (10)

1. An automatic test method for a modularized micro inertial measurement unit is characterized by comprising the following steps of,

according to different test project requirements in the micro inertial measurement unit, carrying out modularized development on test functions under different test states to form different test function modules;

packaging the test function module and a driver of the corresponding test item equipment together to form a test item code module which can be called by the test stand, and packaging to form a program format;

based on the test stage engine, the test steps in the management program format are adjusted, input and output parameters and transmission channels between the test steps are designed according to different test flows of micro inertial measurement units of different models, different conditions or circulation sentences are designed according to test scenes, and different client test sequences are formed through combination;

and selecting test flows required by the micro inertial measurement units of different models according to the test sequences of the client, and automatically testing the micro inertial measurement units of different models after corresponding configuration files are generated.

2. The automatic testing method of the modularized micro inertial measurement unit according to claim 1, wherein the different testing items in the micro inertial measurement unit are managed in a grading manner, and the specific process is as follows: and establishing a storage framework for the micro-inertia measurement assembly in different test projects, and managing the micro-inertia measurement assembly step by step according to the catalogue of the model number, the batch number, the serial number, the test type, the test time and the operator of the micro-inertia measurement assembly.

3. The method of claim 1, wherein the different test items include normal temperature calibration, temperature compensation calibration, IMU set-temperature zero bias stability, IMU zero bias repeatability, gyro scale factor nonlinear calibration, gyro cross-coupling, gyro resolution, gyro threshold, sum resolution, and sum threshold.

4. The automatic test method of a modular micro inertial measurement unit according to claim 1, wherein the specific process of forming different test function modules is:

according to the requirements of different test projects, the test functions in different test states are developed in a modularized mode and divided into different test function modules, each test function module is called in a debuggeable state, and after corresponding test instructions are input to complete the corresponding test projects, the debugged test function module is obtained.

5. The method for automatically testing a modular micro inertial measurement unit according to claim 4, wherein the specific process of forming the program format is:

packaging the debugged test function module and a driver of the corresponding test item equipment together to form a test item code module which can be called by a module adapter of the test stand, and packaging to form a program format; the program format is in the form of a VI or DLL.

6. The method for automatically testing a modular micro inertial measurement unit according to claim 1, wherein the specific process of forming the different client test sequences is:

and the test steps of the test item code module in the management program format are adjusted by using the TestStand engine, input and output parameters and transmission channels between the test steps are designed according to the test flow of the micro inertial measurement unit with different types, different conditions or circulation sentences are designed according to the test scene, the test steps are arranged and combined through a sequence editor in the TestStand engine to form client test sequences of the micro inertial measurement unit with different test products and different test scenes, and when in test, the corresponding client test sequences are selected to complete the automatic test of the micro inertial measurement unit with different types.

7. The method according to claim 6, wherein the client test sequence comprises a client main sequence and a general operation, and a sequential process model framework is carried on the periphery of the client main sequence, and the client main sequence and the general operation are isolated by the sequential process model framework.

8. The method of claim 7, wherein the client side master sequence is formed by a combination of sequential steps of catalog creation, interface configuration, initialization configuration and selection of test items and a loop of performing data collected by the test items, data analysis calculations and test results, and wherein the general operations include user management, user interface and report generation.

9. The automatic testing method of the modularized micro inertial measurement unit according to claim 1, wherein the specific process of automatically testing the micro inertial measurement units of different models is as follows:

user login is carried out in the graphical configuration interface, the authority of different users is controlled by adopting a user management strategy, the debugging and operation functions are selectively opened through different user names and passwords, after the operation interface corresponding to the authority is entered, a client test sequence to be executed is selected, and the operation of the client test sequence is started; setting serial port communication parameters and initialization, setting different calibration items, test items and different acquisition times and parameter values according to basic characteristics and target precision requirements of the micro inertial measurement unit in a test item parameter configuration interface aiming at test requirements of different micro inertial measurement units, generating corresponding configuration files, carrying out automatic flow test of the micro inertial measurement unit according to the configuration files after determining configurable items, recording analysis test results, and storing the analysis test results through a report.

10. A modular micro inertial measurement unit automatic test system according to claim 1, comprising,

the modularized development module is used for performing modularized development on the test function under different test states according to different test project requirements in the micro inertial measurement unit to form different test function modules;

the test item packaging module is used for packaging the test function module and the corresponding driver of the test item equipment together into a test item code module which can be called by the test stand and packaging to form a program format;

the adjustment management module is used for adjusting the testing steps in the management program format based on the TestStand engine, designing input and output parameters and transmission channels among the testing steps according to different testing flows of the micro inertial measurement unit with different models, and designing different conditions or circulation sentences according to the testing scene to form different client test sequences in a combined mode;

and the test file configuration module is used for selecting test flows required by the micro inertial measurement units of different models according to the client test sequence, and automatically testing the micro inertial measurement units of different models after corresponding configuration files are generated.