CN202331056U - Airborne test system of physical simulation test platform for unmanned aerial vehicle - Google Patents
Airborne test system of physical simulation test platform for unmanned aerial vehicle Download PDFInfo
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- CN202331056U CN202331056U CN2011203933464U CN201120393346U CN202331056U CN 202331056 U CN202331056 U CN 202331056U CN 2011203933464 U CN2011203933464 U CN 2011203933464U CN 201120393346 U CN201120393346 U CN 201120393346U CN 202331056 U CN202331056 U CN 202331056U
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Abstract
The utility model provides an airborne test system of a physical simulation test platform for an unmanned aerial vehicle. According to the airborne test system, a GPS (Global Positioning System) receiver is connected with an SCI (Serial Communication Interface) end pin of a central processing unit U6 through a first level switch circuit; the SCI end pin of the central processing unit U6 is connected with a vertical gyroscope through a second level switch circuit; the SCI end pin of the central processing unit U6 is connected with a data radio through a third level switch circuit; a power supply resetting and JTAG (Joint Test Action Group) unit and a signal processing circuit are respectively connected with the central processing unit U6; an airspeed sensor and a height sensor are connected with an I2C end pin of the central processing unit U6; a signal output end of the central processing unit U6 is connected with an engine and a steering engine set through an analogue switch; and an airborne receiver is respectively connected with the signal processing circuit and the analogue switch. With the adoption of the airborne test system provided by the utility model, an actual physical atmospheric environment is used as a background and a fly test of the unmanned aerial vehicle in an actual low-altitude environment is used for testing actual effects of an attitude control law and a navigation guidance control algorithm.
Description
Technical field
The utility model relates to a kind of unmanned vehicle physical simulation test macro.Particularly relate to a kind of airborne test macro of unmanned vehicle physical simulation test platform that is used for civilian fixed-wing unmanned vehicle test, test.
Background technology
At present; Domesticly carry out the unmanned vehicle attitude control law, the navigational guidance CONTROL LAW DESIGN mainly adopts modes such as Digital Simulation and HWIL simulation; Digital Simulation or HWIL simulation all lack the real air dynamic environment; Flight control related algorithm performance index such as attitude control law that causes in the experimentation being tested and navigational guidance are applied to certain defective and instability occur after the actual unmanned vehicle system; And then need a large amount of research staff to carry out the real system debugging once more, cause the waste of time, manpower, financial resources, even influence the flight safety and the reliability of unmanned vehicle.
Summary of the invention
The utility model technical matters to be solved is, a kind of airborne test macro of unmanned vehicle physical simulation test platform of testing experiment of the correlated performance index that can be used for loading attitude control law in the unmanned vehicle design process, navigational guidance control algolithm is provided.
The technical scheme that the utility model adopted is: the airborne test macro of a kind of unmanned vehicle physical simulation test platform; Comprise: central processing unit U6; GPS receiver, vertical gyro, data radio station, power reset and JTAG unit, signal processing circuit, airboarne receiver, airspeed sensor, height sensor, steering wheel group and engine; Wherein, Described GPS receiver connects the SCI end pin of central processing unit U6 through first level shifting circuit; Vertical gyro connects the SCI end pin of central processing unit U6 through second level shifting circuit; Data radio station is held pin through the SCI that the 3rd level shifting circuit connects central processing unit U6, and power reset and JTAG unit are connected central processing unit U6 respectively with signal processing circuit, and described airspeed sensor is connected the I2C end pin of central processing unit U6 with height sensor; The signal output part of described central processing unit U6 connects steering wheel group and engine through analog switch, and described airboarne receiver connects signal processing circuit and analog switch respectively.
Described first level shifting circuit is identical with the 3rd level shifting circuit structure, includes the first chip U1 and the second chip U2, wherein; The pin 1 of the described first chip U1 is through capacitor C 0 connecting pin 3, and pin 4 is through capacitor C 1 connecting pin 5, and pin 2 is through capacitor C 3 ground connection; Pin 16 is through capacitor C 4 ground connection, and pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13; Pin 6 ground connection, pin 15 are through capacitor C 2 ground connection, and pin 12 connects central processing unit U6; Pin 10 is connected the transmitting terminal SCDTTX and the receiving end SCDTRX of data radio station with pin 9, pin 7 and the pin 8 corresponding pin 7 and pin 8 that are connected the second chip U2; The pin 1 of the described second chip U2 is through capacitor C 5 connecting pins 3, and pin 4 is through capacitor C 6 connecting pins 5, and pin 2 is through capacitor C 8 ground connection; Pin 16 is through capacitor C 9 ground connection; Pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13, pin 6 ground connection; Pin 15 is through capacitor C 7 ground connection, and pin 10, pin 12 and pin 9 are connected central processing unit U6 respectively.
Described second level shifting circuit includes the first chip U1, the second chip U2 and the 3rd chip U3 respectively, and wherein, the pin 1 of the described first chip U1 is through capacitor C 0 connecting pin 3; Pin 4 is through capacitor C 1 connecting pin 5, and pin 2 is through capacitor C 3 ground connection, and pin 16 is through capacitor C 4 ground connection; Pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13, pin 6 ground connection; Pin 15 is through capacitor C 2 ground connection, and pin 12 connects central processing unit U6, and pin 10 is connected the transmitting terminal SCDTTX and the receiving end SCDTRX of data radio station with pin 9; Pin 7 and the pin 8 corresponding pin 7 and pin 8 that are connected the second chip U2, pin 11 connects the pin 1 of the 3rd chip U3; The pin 1 of the described second chip U2 is through capacitor C 5 connecting pins 3, and pin 4 is through capacitor C 6 connecting pins 5, and pin 2 is through capacitor C 8 ground connection; Pin 16 is through capacitor C 9 ground connection; Pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13, pin 6 ground connection; Pin 15 is through capacitor C 7 ground connection, and pin 10, pin 12 and pin 9 are connected central processing unit U6 respectively; The pin 8 of described the 3rd chip U3 meets power supply VCC, and pin 7 meets the output signal R+ of vertical gyro, and pin 6 meets the output signal R-of vertical gyro, is connected a resistance R 8 between pin 7 and the pin 8, is connected a resistance R 7 between pin 6 and the pin 5.
Described signal processing circuit includes amplifier U7; The pin 5 of said amplifier U7 and pin 1 are connected the pwm signal WBZDCF of central processing unit U6 successively through adjustable resistance R2, resistance R 3, capacitor C 10 and adjustable resistance R1; Pin 2 is connected the pwm signal WBZDCF of central processing unit U6 successively with adjustable resistance R1 through resistance R 3, capacitor C 10, pin 4 ground connection are also passed through capacitor C 10 is connected central processing unit U6 with adjustable resistance R1 pwm signal WBZDCF successively; And meet power supply VCC through a stabilivolt and resistance R 4 successively; Pin 8 meets power supply VCC, and pin 7 is through the external interrupt XINT1 of resistance R 6 connection central processing unit U6, pin 6 ground connection.
Described analog switch includes four-core sheet U4, the 5th chip U5 and airboarne receiver interface JSJ, and wherein, the pin 12 of the pin 12 of described four-core sheet U4, pin 2, pin 5 and described the 5th chip U5 is connected central processing unit U6 respectively; The pin 16 of four-core sheet U4 meets power supply VCC, and the control end FDJ of pin 14 sending and receiving motivations, pin 15 meet the elevating rudder control end SJD of steering wheel group; Pin 4 meets the aileron rudder control end FYD of steering wheel group; Pin 6, pin 7 and pin 8 ground connection, pin 13, pin 1 and pin 3 are connected airboarne receiver interface JSJ, and pin 11, pin 10 and pin 9 are connected 1 road GPIO of central processing unit U6 with pin 11, pin 10 and the pin 9 of the 5th chip U5; The pin 16 of said the 5th chip U5 meets power supply VCC; Pin 14 closure rudder control end FXD, pin 6, pin 7 and pin 8 ground connection, pin 13 connects airboarne receiver interface JSJ.
The airborne test macro of unmanned vehicle physical simulation test platform of the utility model; Adopt the unmanned vehicle physical model to carry the platform of airborne test macro as band; Adopt the band carrying platform of airborne test macro as unmanned vehicle attitude control law and navigational guidance control algolithm; Provide one to research and develop assistance platform efficiently, be used for loading the testing experiment of correlated performance index of attitude control law, the navigational guidance control algolithm of unmanned vehicle design process.With the actual physics atmospheric environment is background, through the flight test of unmanned vehicle under the environment of the low latitude of reality, is used to test the actual effect of attitude control law and navigational guidance control algolithm.The airborne test macro of unmanned vehicle physical simulation test platform can provide unmanned vehicle model band to carry data acquisition, analysis and transfer functions such as GPS, vertical gyro, height sensor, airspeed sensor and data radio station.R&D costs be can reduce, flight safety and reliability in the Flight Vehicle Design process further improved.
Description of drawings
Fig. 1 is the The general frame of the utility model;
Fig. 2 is the circuit theory diagrams of level shifting circuit;
Fig. 3 is the circuit theory diagrams of down trigger circuit;
Fig. 4 is automatic, remote control control signal change-over circuit;
Fig. 5 is the airborne testing system software process flow diagram of unmanned vehicle physical simulation test platform.
Wherein:
1:GPS receiver 2: vertical gyro
3: data radio station 4: power reset and JTAG unit
5: 6: the first level shifting circuits of signal processing circuit
8: the three level shifting circuits of 7: the second level shifting circuits
9: airboarne receiver 10: airspeed sensor
11: height sensor 12: the steering wheel group
13: engine 14: analog switch
Embodiment
Below in conjunction with embodiment and accompanying drawing the airborne test macro of unmanned vehicle physical simulation test platform of the utility model is made detailed description.
As shown in Figure 1; The airborne test macro of unmanned vehicle physical simulation test platform of the present invention; Comprise: central processing unit U6; GPS receiver 1, vertical gyro 2, data radio station 3, power reset and JTAG unit 4, signal processing circuit 5, airboarne receiver 9, airspeed sensor 10, height sensor 11, steering wheel group 12 and engine 13; Wherein, it is the microprocessor of TMS320F28335 that central processing unit U6 adopts model, and described GPS receiver 1 connects the SCI end pin of central processing unit U6 through first level shifting circuit 6; Vertical gyro 2 connects the SCI end pin of central processing unit U6 through second level shifting circuit 7; Data radio station 3 is held pin through the SCI that the 3rd level shifting circuit 8 connects central processing unit U6, and power reset and JTAG unit 4 are connected central processing unit U6 respectively with signal processing circuit 5, and described airspeed sensor 10 is connected the I2C end pin of central processing unit U6 with height sensor 11; The signal output part of described central processing unit U6 connects steering wheel group 12 and engine 13 through analog switch 14, and described airboarne receiver 9 connects signal processing circuit 5 and analog switch 14 respectively.
The flight attitude of unmanned vehicle is obtained by vertical gyro; Flight geographic coordinate course information is obtained by the GPS receiver; Flying height is obtained by height sensor, and air speed is obtained by airspeed sensor, and these information are delivered to land station through the SCI of TMS320F28335 by data radio station again.Produce 4 road pwm signals control steering wheel group and engine by TMS320F28335 when flying automatically; When data transmission system breaks down; Can send instructions to receiver by land station; Behind signal condition, trigger the external interrupt of TMS320F28335, the GPIO1 output high level control analog switch gating of TMS320F28335 is manually controlled.
Data radio station, the GPS that system of the present invention adopts is string 5V Transistor-Transistor Logic level, and vertical gyro is the RS422 level, and the serial ports of TMS320F28335 is the 3.3VTTL level, and the serial ports level is incompatible, so the design level shifting circuit.Utilize two MAX3232 and a slice MAX485 design level shifting circuit.
As shown in Figure 2, described first level shifting circuit 6 is identical with the 3rd level shifting circuit 8 structures, the first chip U1 and the identical MAX3232 that is of the second chip U2 model; Wherein, the pin 1 of the described first chip U1 is through capacitor C 0 connecting pin 3, and pin 4 is through capacitor C 1 connecting pin 5; Pin 2 is through capacitor C 3 ground connection, and pin 16 is through capacitor C 4 ground connection, and pin 16 also connects power supply VCC; Pin 14 links to each other with pin 13, pin 6 ground connection, and pin 15 is through capacitor C 2 ground connection; Pin 12 connects central processing unit U6, and pin 10 is connected the transmitting terminal SCDTTX and the receiving end SCDTRX of data radio station with pin 9, pin 7 and the pin 8 corresponding pin 7 and pin 8 that are connected the second chip U2; The pin 1 of the described second chip U2 is through capacitor C 5 connecting pins 3, and pin 4 is through capacitor C 6 connecting pins 5, and pin 2 is through capacitor C 8 ground connection; Pin 16 is through capacitor C 9 ground connection; Pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13, pin 6 ground connection; Pin 15 is through capacitor C 7 ground connection, and pin 10, pin 12 and pin 9 are connected central processing unit U6 respectively.
As shown in Figure 2, described second level shifting circuit 7 includes the first chip U1, the second chip U2 and the 3rd chip U3, the first chip U1 and the identical MAX3232 that is of the second chip U2 model, and the model of the 3rd chip U3 is MAX485.Wherein, the pin 1 of the described first chip U1 is through capacitor C 0 connecting pin 3, and pin 4 is through capacitor C 1 connecting pin 5, and pin 2 is through capacitor C 3 ground connection; Pin 16 is through capacitor C 4 ground connection, and pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13; Pin 6 ground connection, pin 15 are through capacitor C 2 ground connection, and pin 12 connects central processing unit U6; Pin 10 is connected the transmitting terminal SCDTTX and the receiving end SCDTRX of data radio station with pin 9, pin 7 and the pin 8 corresponding pin 7 and pin 8 that are connected the second chip U2, and pin 11 connects the pin 1 of the 3rd chip U3; The pin 1 of the described second chip U2 is through capacitor C 5 connecting pins 3, and pin 4 is through capacitor C 6 connecting pins 5, and pin 2 is through capacitor C 8 ground connection; Pin 16 is through capacitor C 9 ground connection; Pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13, pin 6 ground connection; Pin 15 is through capacitor C 7 ground connection, and pin 10, pin 12 and pin 9 are connected central processing unit U6 respectively; The pin 8 of described the 3rd chip U3 meets power supply VCC, and pin 7 meets the output signal R+ of vertical gyro, and pin 6 meets the output signal R-of vertical gyro, is connected a resistance R 8 between pin 7 and the pin 8, is connected a resistance R 7 between pin 6 and the pin 5.
The principle of work of first level shifting circuit 6 and the 3rd level shifting circuit 8 is: the TTL signal GPST of the output 5V of GPS connects the pin 11 of U2; Through conversion from pin 14 output 232 level signals, pin 14 signals from the pin 13 of U2 insert through conversion from pin 12 outputs of U2 then this signal connect the reception pin of the SCIRXDA of DSP.The transmission SCDTTX of data radio station and reception SCDTRX connect the pin 10,9 of U1 respectively, after level conversion, connect the pin 8,7 of U2 respectively, the SCIRXDB of the DSP that after level conversion, connects respectively and SCITXDB pin.The principle of work of second level shifting circuit 7 is: the pin 6,7 that the output signal R-of vertical gyro, R+ meet MAX485 respectively pin 1 from MAX485 after level conversion is exported; Connect the pin 11 of U1 then; Pin 14 from U1 after level conversion is exported; Connect the pin 13 of U1 then, the pin 12 from U1 after level conversion is exported the pin 12 of the reception termination U1 of the SCIRXDC of DSP.
As shown in Figure 3, described signal processing circuit 5 includes amplifier U7, and model is LM358, inner integrated two amplifiers of LM358, and one of them is used for amplifying, and one as comparer.The pin 5 of said amplifier U7 and pin 1 are connected the pwm signal WBZDCF of central processing unit U6 successively through adjustable resistance R2, resistance R 3, capacitor C 10 and adjustable resistance R1; Pin 2 is connected the pwm signal WBZDCF that meets central processing unit U6 through resistance R 3, capacitor C 10 and adjustable resistance R1 successively; Pin 4 ground connection; Also be connected the pwm signal WBZDCF that meets central processing unit U6 with adjustable resistance R1 through capacitor C 10 successively, and meet power supply VCC through a stabilivolt and resistance R 4 successively, pin 8 meets power supply VCC; Pin 7 is through the external interrupt XINT1 of resistance R 6 connection central processing unit U6, pin 6 ground connection.
The principle of work of signal processing circuit 5 is: pwm signal is got into the pin 3 of LM358 after RC filtering by WBZDCF label place in circuit among the figure; By pin 1 output, pin 1 connects 5 pins after amplifying, and the voltage reference that is made up of the 3.3V stabilivolt connects the LM3586 pin; The voltage of the pin 5 of the dutycycle LM358 of adjusting PWM changes; When voltage is higher than 3.3V, can produce the rising edge signal at pin 7, trigger the external interrupt XINT1 of DSP thus.
As shown in Figure 4, described analog switch 14 includes four-core sheet U4, the 5th chip U5 and airboarne receiver interface JSJ, and the model of four-core sheet U4 and the 5th chip U5 is CD4053.Wherein, the pin 12 of the pin 12 of described four-core sheet U4, pin 2, pin 5 and described the 5th chip U5 is connected central processing unit U6 respectively, and the pin 16 of four-core sheet U4 meets power supply VCC; Pin 14 sending and receiving motivation control end FDJ, pin 15 meets elevating rudder control end SJD, and pin 4 meets aileron rudder control end FYD; Pin 6, pin 7 and pin 8 ground connection, pin 13, pin 1 and pin 3 are connected airboarne receiver interface JSJ, and pin 11, pin 10 and pin 9 are connected 1 road GPIO of central processing unit U6 with pin 11, pin 10 and the pin 9 of the 5th chip U5; The pin 16 of said the 5th chip U5 meets power supply VCC; Pin 14 closure rudder control end FXD, pin 6, pin 7 and pin 8 ground connection, pin 13 connects airboarne receiver interface JSJ.
As shown in Figure 5; The control method of the airborne test macro of unmanned vehicle physical simulation test platform of the present invention is: with the algorithm that will test be loaded into this airborne test macro and reserve in module; Initialization, initialization I/O mouth, initialization interrupt vector table, initialization peripheral hardware, the interruption of at first carrying out system enables, the performance variable setup code; Get into systemic circulation and wait for interruption, when interruption generating, get into interrupt function and carry out data acquisition and control algolithm program.
Claims (5)
1. airborne test macro of unmanned vehicle physical simulation test platform; It is characterized in that; Comprise: central processing unit U6; GPS receiver (1), vertical gyro (2), data radio station (3), power reset and JTAG unit (4), signal processing circuit (5), airboarne receiver (9), airspeed sensor (10), height sensor (11), steering wheel group (12) and engine (13); Wherein, Described GPS receiver (1) is held pin through the SCI that first level shifting circuit (6) connects central processing unit U6, and vertical gyro (2) is through the SCI end pin of second level shifting circuit (7) connection central processing unit U6, and data radio station (3) is through the SCI end pin of the 3rd level shifting circuit (8) connection central processing unit U6; Power reset and JTAG unit (4) are connected central processing unit U6 respectively with signal processing circuit (5), and described airspeed sensor (10) is connected the I of central processing unit U6 with height sensor (11)
2C holds pin, and the signal output part of described central processing unit U6 connects steering wheel group (12) and engine (13) through analog switch (14), and described airboarne receiver (9) connects signal processing circuit (5) and analog switch (14) respectively.
2. the airborne test macro of unmanned vehicle physical simulation test platform according to claim 1 is characterized in that, described first level shifting circuit (6) is identical with the 3rd level shifting circuit (8) structure; Include the first chip U1 and the second chip U2, wherein, the pin 1 of the described first chip U1 is through capacitor C 0 connecting pin 3; Pin 4 is through capacitor C 1 connecting pin 5, and pin 2 is through capacitor C 3 ground connection, and pin 16 is through capacitor C 4 ground connection; Pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13, pin 6 ground connection; Pin 15 is through capacitor C 2 ground connection; Pin 12 connects central processing unit U6, and pin 10 is connected the transmitting terminal SCDTTX and the receiving end SCDTRX of data radio station (3) with pin 9, pin 7 and the pin 8 corresponding pin 7 and pin 8 that are connected the second chip U2; The pin 1 of the described second chip U2 is through capacitor C 5 connecting pins 3, and pin 4 is through capacitor C 6 connecting pins 5, and pin 2 is through capacitor C 8 ground connection; Pin 16 is through capacitor C 9 ground connection; Pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13, pin 6 ground connection; Pin 15 is through capacitor C 7 ground connection, and pin 10, pin 12 and pin 9 are connected central processing unit U6 respectively.
3. the airborne test macro of unmanned vehicle physical simulation test platform according to claim 1 is characterized in that described second level shifting circuit (7) includes the first chip U1, the second chip U2 and the 3rd chip U3 respectively; Wherein, the pin 1 of the described first chip U1 is through capacitor C 0 connecting pin 3, and pin 4 is through capacitor C 1 connecting pin 5; Pin 2 is through capacitor C 3 ground connection, and pin 16 is through capacitor C 4 ground connection, and pin 16 also connects power supply VCC; Pin 14 links to each other with pin 13, pin 6 ground connection, and pin 15 is through capacitor C 2 ground connection; Pin 12 connects central processing unit U6; Pin 10 is connected the transmitting terminal SCDTTX and the receiving end SCDTRX of data radio station (3) with pin 9, pin 7 and the pin 8 corresponding pin 7 and pin 8 that are connected the second chip U2, and pin 11 connects the pin 1 of the 3rd chip U3; The pin 1 of the described second chip U2 is through capacitor C 5 connecting pins 3, and pin 4 is through capacitor C 6 connecting pins 5, and pin 2 is through capacitor C 8 ground connection; Pin 16 is through capacitor C 9 ground connection; Pin 16 also connects power supply VCC, and pin 14 links to each other with pin 13, pin 6 ground connection; Pin 15 is through capacitor C 7 ground connection, and pin 10, pin 12 and pin 9 are connected central processing unit U6 respectively; The pin 8 of described the 3rd chip U3 meets power supply VCC, and pin 7 meets the output signal R+ of vertical gyro (2), and pin 6 meets the output signal R-of vertical gyro (2), is connected a resistance R 8 between pin 7 and the pin 8, is connected a resistance R 7 between pin 6 and the pin 5.
4. the airborne test macro of unmanned vehicle physical simulation test platform according to claim 1; It is characterized in that; Described signal processing circuit (5) includes amplifier U7, and the pin 5 of said amplifier U7 and pin 1 are connected the pwm signal WBZDCF of central processing unit U6 successively through adjustable resistance R2, resistance R 3, capacitor C 10 and adjustable resistance R1, and pin 2 is connected the pwm signal WBZDCF of central processing unit U6 successively with adjustable resistance R1 through resistance R 3, capacitor C 10; Pin 4 ground connection; Also be connected the pwm signal WBZDCF of central processing unit U6 with adjustable resistance R1 through capacitor C 10 successively, and meet power supply VCC through a stabilivolt and resistance R 4 successively, pin 8 meets power supply VCC; Pin 7 is through the external interrupt XINT1 of resistance R 6 connection central processing unit U6, pin 6 ground connection.
5. the airborne test macro of unmanned vehicle physical simulation test platform according to claim 1 is characterized in that described analog switch (14) includes four-core sheet U4, the 5th chip U5 and airboarne receiver interface JSJ; Wherein, the pin 12 of the pin 12 of described four-core sheet U4, pin 2, pin 5 and described the 5th chip U5 is connected central processing unit U6 respectively, and the pin 16 of four-core sheet U4 meets power supply VCC; The control end FDJ of pin 14 sending and receiving motivations (13); Pin 15 meets the elevating rudder control end SJD of steering wheel group (12), and pin 4 connects the aileron rudder control end FYD of steering wheel group (12), pin 6, pin 7 and pin 8 ground connection; Pin 13, pin 1 and pin 3 are connected airboarne receiver interface JSJ; Pin 11, pin 10 and pin 9 are connected 1 road GPIO of central processing unit U6 with pin 11, pin 10 and the pin 9 of the 5th chip U5, the pin 16 of said the 5th chip U5 meets power supply VCC, pin 14 closure rudder control end FXD; Pin 6, pin 7 and pin 8 ground connection, pin 13 connects airboarne receiver interface JSJ.
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| CN2011203933464U CN202331056U (en) | 2011-10-14 | 2011-10-14 | Airborne test system of physical simulation test platform for unmanned aerial vehicle |
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| CN103365214A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Single rotor wing unmanned aerial vehicle three-freedom degree semi-physical simulation platform and experimental method |
| CN105059565A (en) * | 2015-08-10 | 2015-11-18 | 西安飞豹科技发展公司 | Airplane ground flight verification system |
| CN105314128A (en) * | 2015-11-04 | 2016-02-10 | 中国直升机设计研究所 | Hydraulic control system for helicopter ground integrated test bench |
| CN105635581A (en) * | 2016-01-15 | 2016-06-01 | 中测新图(北京)遥感技术有限责任公司 | Universal type control method of digital aerial photography system |
| CN105974824A (en) * | 2016-01-15 | 2016-09-28 | 中测新图(北京)遥感技术有限责任公司 | Universal control system of digital aerial photography system |
| CN108011766A (en) * | 2017-12-12 | 2018-05-08 | 中电科航空电子有限公司 | A kind of system architecture and distribution relation automatic switching control equipment |
| CN108536125A (en) * | 2018-04-03 | 2018-09-14 | 北京航空航天大学 | Artificial intelligence program person writes the automatic testing method of digital aircraft source program |
| CN112623272A (en) * | 2020-12-29 | 2021-04-09 | 中国航空工业集团公司西安飞机设计研究所 | Test method for auxiliary function of large airplane airspeed anomaly |
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- 2011-10-14 CN CN2011203933464U patent/CN202331056U/en not_active Expired - Fee Related
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| CN103365214A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Single rotor wing unmanned aerial vehicle three-freedom degree semi-physical simulation platform and experimental method |
| CN105059565B (en) * | 2015-08-10 | 2018-07-06 | 西安飞豹科技有限公司 | A kind of aircraft floor flight validation system |
| CN105059565A (en) * | 2015-08-10 | 2015-11-18 | 西安飞豹科技发展公司 | Airplane ground flight verification system |
| CN105314128A (en) * | 2015-11-04 | 2016-02-10 | 中国直升机设计研究所 | Hydraulic control system for helicopter ground integrated test bench |
| CN105314128B (en) * | 2015-11-04 | 2017-08-29 | 中国直升机设计研究所 | A kind of helicopter integrated ground test platform hydraulic control system |
| CN105635581A (en) * | 2016-01-15 | 2016-06-01 | 中测新图(北京)遥感技术有限责任公司 | Universal type control method of digital aerial photography system |
| CN105974824A (en) * | 2016-01-15 | 2016-09-28 | 中测新图(北京)遥感技术有限责任公司 | Universal control system of digital aerial photography system |
| CN108011766A (en) * | 2017-12-12 | 2018-05-08 | 中电科航空电子有限公司 | A kind of system architecture and distribution relation automatic switching control equipment |
| CN108011766B (en) * | 2017-12-12 | 2024-04-05 | 中电科航空电子有限公司 | Automatic switching device for system architecture and wiring relation |
| CN108536125A (en) * | 2018-04-03 | 2018-09-14 | 北京航空航天大学 | Artificial intelligence program person writes the automatic testing method of digital aircraft source program |
| CN108536125B (en) * | 2018-04-03 | 2020-12-29 | 北京航空航天大学 | Automatic detection method for source program written by artificial intelligence programmer for digital aircraft |
| CN112623272A (en) * | 2020-12-29 | 2021-04-09 | 中国航空工业集团公司西安飞机设计研究所 | Test method for auxiliary function of large airplane airspeed anomaly |
| CN112623272B (en) * | 2020-12-29 | 2022-10-11 | 中国航空工业集团公司西安飞机设计研究所 | Test method for auxiliary function of large airplane airspeed anomaly |
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