KR101355676B1 - Flight control system for unmanned aerial vehicle of variable types - Google Patents

Flight control system for unmanned aerial vehicle of variable types Download PDF

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KR101355676B1
KR101355676B1 KR1020120090511A KR20120090511A KR101355676B1 KR 101355676 B1 KR101355676 B1 KR 101355676B1 KR 1020120090511 A KR1020120090511 A KR 1020120090511A KR 20120090511 A KR20120090511 A KR 20120090511A KR 101355676 B1 KR101355676 B1 KR 101355676B1
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flight control
control unit
multi
time
real
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KR1020120090511A
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Korean (ko)
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최두열
장순용
김재용
류춘하
조인제
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한국항공우주산업 주식회사
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/0202Control of position or course in two dimensions specially adapted to aircraft
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00Arrangements for program control, e.g. control units
    • G06F9/06Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/44Arrangements for executing specific programs

Abstract

A safety-conscious flight control system for multi-type unmanned aerial vehicle is disclosed, to which a real-time operating system is applied and which is capable of independently operating application programs according to flight control software development requirements and obtaining high reliability. The present invention provides a flight control system for multi-type unmanned aerial vehicle comprising: a control unit including a flight control unit applicable to a shape of a multi-type unmanned aerial vehicle, a mission control unit having a navigation solution applicable to the shape of the multi-type unmanned aerial, and a communication unit having a data link for communication with a ground control unit supporting the multi-type unmanned aerial vehicle; a flight control device for inputting signals to the control unit; and a real time operating system (RTOS) for interfacing the control unit and the flight control device and satisfying ARINC 653 standards.

Description

FLIGHT CONTROL SYSTEM FOR UNMANNED AERIAL VEHICLE OF VARIABLE TYPES

The present invention relates to a drone flight control system, and more particularly to a drone common mounting system applicable to various models.

Due to the rapid increase in development demand of domestic unmanned aircraft, software development cost, which is about 60% of the total development cost, is being duplicated, requiring a drone flight control system technology based on strategic drone core software. As a result, the development of standard software for multi-stage drones for the standard platform of the unmanned drone common loading software applicable to various models is in progress, and the commercialization is aimed at expanding exports by localizing strategic technology and securing competitiveness.

The standard software for multi-class drones covers medium and high altitude drone applications, and the corresponding flight control software is safety-critical software, that is, a system that is directly related to flight safety. The verification process is then validated, and the ARINC 653 real time operating system (RTOS) with multiplex support optimized for multiple UAVs must follow the same verification process.

Meanwhile, Qplus-Air RTOS developed by Korea Electronics and Telecommunications Research Institute was developed in compliance with ARINC 653, an international standard that defines standards and functions such as standard operating system (OS) installed in aircraft. The company is following the process of acquiring the 'Level A Certifiable' certification, the highest level of safety (Mu Park, "Technology Trends in Development and Certification for Aerospace S / W", Trends in Aerospace Industry, 2007). However, in the drone flight control system that can be applied to various models so far, there is no disclosure on the safety-focused flight control system applying the real-time operating system.

Therefore, the present invention is a safety-oriented flight control system using a real-time operating system in a multi-vehicle flight control system, can independently operate the application program according to the flight control software development requirements, and can ensure high reliability To provide a multi-class drone flight control system.

In order to solve the above problems, the present invention, a flight control unit applicable to a multi-type drone shape, a mission control unit having a navigation solution applicable to the multi-type drone shape, and a data linkable communication unit with a ground control unit supporting a multi-type drone A control unit partitioned into; A flight control device for inputting a signal to the control unit; And a real time operating system (RTOS) that serves as an interface between the control unit and the flight control device and satisfies the ARINC 653 standard.

In addition, the control unit provides a flight control system for a multi-class drone, characterized in that consisting of time and space partitions for communication between the flight control unit, the mission control unit and the communication unit.

The control unit may further include a task scheduling and interrupt processing function using the real-time operating system, a function of monitoring an input signal of the flight control device, selecting a faulty signal, a failure site management and reporting function, and a control law. (control laws) Autocode application, input-output processor (IOP) / recommended standard (RS) -422 / 1553B interface support, and utility management features including fuel, electricity and engine Provides a drone flight control system.

In addition, the real-time operating system provides a flight control system for a multi-class drone, characterized in that the Qplus-AIR provided by the Korea Electronics and Telecommunications Research Institute (ETRI).

In addition, the real-time operating system has a real-time performance that can be deterministic at a designed time requiring a predictable and constant response time to perform a given task at a given time, and power interruption in flight Boot start time is less than 1 second at warm start, and kernel loading is performed in fixed memory due to virtual memory not used and program / data (bss) area is separated. It has a memory manager function, a process manager function that manages the health monitor state with failure management, and a nested interrupt. Functional customization to have an interrupt service capability that is capable of interrupt masking It provides a flight control system for a multi-class drone, characterized in that.

According to the present invention, in a multi-plane drone flight control system, by applying a real-time operating system that satisfies the ARINC 653 standard for the first time, by including a control unit consisting of time and space partitions for communication between the flight control unit, mission control unit and communication unit It can provide a multi-vehicle unmanned aerial vehicle flight control system that can operate applications independently such as control, maneuver, mission, and communication.

In addition, the function can be customized to meet the requirements of the safety-oriented real-time operating system, it is possible to provide a multi-class drone flight control system that can ensure a high reliability that does not affect the entire system even if an error occurs in some systems.

1 is a configuration diagram showing an example of the structure of a multi-stage unmanned aerial vehicle flight control system according to the present invention,
2 is a diagram illustrating a drone common mounting system to which a multi-class drone flight control system according to the present invention is applied;
3 is a block diagram showing an example in which a multi-plane drone flight control system according to the present invention is configured in an integrated flight control system;
4 is a view illustrating an example in which a controller of a multi-class drone flight control system according to the present invention is partitioned;
Figure 5 is a block diagram showing an example of the main flight control function of each CSCI constituting a multi-class drone flight control system according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. In order to clearly illustrate the present invention, parts not related to the description are omitted, and like parts are denoted by similar reference numerals throughout the specification. Also, throughout the specification, when an element is referred to as "comprising ", it means that it can include other elements, not excluding other elements, unless specifically stated otherwise.

The inventors followed the process according to the 'Level A Certifiable' certification, which is the highest safety level of DO-178B, and applied Qplus-AIR RTOS that supports ARINC 653 for the first time in the development of multi-stage unmanned aerial vehicle flight control system. By installing it, applications such as steering, mission, and communication can be operated completely independently according to flight control software development requirements, and high reliability is ensured that even if an error occurs in some systems, it does not affect the whole system. It has been found that the present invention can provide a flight control system for a drone.

1 is a configuration diagram showing an example of the structure of a multi-class drone flight control system according to the present invention.

Referring to FIG. 1, the present invention provides a flight control unit 111 applicable to a multi-type drone shape, a mission control unit 112 having a navigation solution applicable to a multi-type drone shape, and a ground control unit supporting a multi-type drone. A control unit 110 partitioned into a data linkable communication unit 113; A flight control device 120 for inputting a signal to the control unit 110; And a real time operating system (RTOS) 130 that serves as an interface between the controller 110 and the flight control device 120 and satisfies the ARINC 653 standard. The system 100 is disclosed.

First, ARINC 653 is an interface between the system core and the application for the purpose of integrated modular AVIONIC (IMA), and is a technical standard that defines the interface between the real-time operating system of the digital avionics system defined by ARINC and the applications running on it (Avionics). Application Software Standard Interface, ARINC Specification 653P1-3). Here, in the case of aircraft, there are numerous applications with different safety criticality levels. IMA is a technology introduced for their safety and efficiency. Low development costs for hardware or applications by keeping them unaffected when executed (Eveleens, RLC, Integrated Modular Avionics Development Guidance and Certification Considerations. In Mission Systems Engineering, pp 4-1-4-18, 2006).

The real-time operating system 130 that satisfies the ARINC 653 standard is required for an OS system capable of time / space partitioning in a drone common mounting system as shown in FIG. 2, and has been adopted as an operating system for this purpose. The real-time operating system 130 is capable of partitioning time and space, communication between partitions, and error detection and reporting through communication and health monitering at a process level within a partition.

In the present invention, the Qplus-AIR provided by the Korea Electronics and Telecommunications Research Institute (ETRI) can be used as the real-time operating system 130. The Qplus-AIR is a real-time operating system (RTOS) for the ARINC 653 system applied to standard software for an unmanned aerial vehicle. It supports the partitioning of time and space defined by ARINC 653, and describes the characteristics of the real-time operating system.

Partition management

In ARINC, a partition is defined as a partition, which is an area of each application, to guarantee time and memory space of each aeronautical application, and accordingly, APEX (application / It is necessary to share a single processor and memory to define execute, and partition management is for doing this.

Ii) process management

It provides functionality related to dynamic partitions within the IMA concept, which consists of one or more processes. Process management can operate multiple processes by precisely associating processes with partitions to achieve partitioning, one of the most different from traditional systems.

Iii) time management

Time management is an important feature of a real-time operating system that ensures that no point in time applies to all partitions when executing a partition of an aviation system.

Memory management

Memory management is defined when a system is run and configured similarly to a general operating system, and may provide an interface for memory usage or allocation according to a process or a partition.

Iii) inter partition communication

Inter partition communication specifies the transfer of data between partitions. This also enables execution within the same system or transfer of data with other systems.

Iv) intra partition communication

Intra partition communication is the transfer of data between processes within a partition, which allows data to be passed without overhead.

Iii) health monitoring

Health monitoring provides the ability to monitor and report on hardware, application, and operating system errors. This helps to prevent the propagation of errors.

Figure 3 is a block diagram showing an example of a multi-class drone flight control system configured in the integrated flight control system according to the present invention.

Referring to FIG. 3, the multi-class drone flight control system 100 according to the present invention may be partitioned and configured in an integrated flight control system 200 based on ARINC-653, and an integrated flight control system 200 is provided. Is configured to include flight control 111, mission control 112 and communication 113 partitions, and may be designed with different safety-critical level-specific applications (see FIG. 1).

As such, the multi-class drone flight control system 100 according to the present invention may be designed as a partition by configuring a computer software configuration item (CSCI) for each function. Specifically, in the present invention, the flight control unit 111 is provided with a flight control subsystem software that can be commonly applied to multi-type drone shapes, and the mission control unit 112 is a navigation solution and a mission control subsystem applicable to a multi-type drone shape. Software is provided, and the communication unit 113 is provided with data link software with the ground control 140 to support a multi-class drone.

In addition, in the present invention, in consideration of reliability, robustness, execution time that is accurately performed according to a designed time, and predictability of a real-time support nature, the control unit may include partition scheduling ( partition scheduling). In detail, as shown in FIG. 4, the scheduling for each partition is a time / space partition for inter partition communication between the flight control unit 111, the mission control unit 112, and the communication unit 113 partition. partitions).

5 is a block diagram illustrating in detail an example of a main flight control function of each CSCI constituting the multi-class drone flight control system according to the present invention.

Referring to Figure 5, each of the CSCI (111, 112, 113) of the multi-class drone flight control system 100 according to the present invention by analyzing the various requirements required in the multi-plane drone flight control system is a software functional configuration Task scheduling and interrupt processing function (F1) using a real-time operating system, the function of monitoring the input signal of the flight control device to select a faultless signal (F2), fault area management and reporting function (F3), control laws automatic code application (F4), input-output processor (IOP) / recommended standard (RS) -422 / 1553B interface support (F5), fuel, electricity and engine Utility management function F6 can be provided.

The multi-class drone flight control system according to the present invention is a real-time operating system so that the requirements required by the safety-focused flight control software in charge of aircraft flight control for the standard platform of the drone common loading software applicable to various models Function can be customized. Specifically, in the present invention, the real-time operating system has a real-time performance that can be deterministic at a designed time requiring a predictable and constant response time to perform a given task at a given time, power failure in flight Power interruption allows boot time to be less than 1 second at warm start, kernel loading to ensure that program / text (bss) areas are separated and run in fixed memory due to virtual memory not being used It has a memory manager function that can be used), a process manager function that can manage the health monitor status with failure management, and a nested interrupt. Customize functionality to include interrupt service capability for interrupts and interrupt masking Can be gong. Table 1 below shows an example in which the real-time operating system is functionally customized in the present invention.

Figure 112012066302419-pat00001

The system monitoring function in Table 1 is for system integration test in flight control system development, and the software test procedure specified in DO-178B for software test verification of the multi-vehicle flight control system according to the present invention. Depending on the software requirements, lower level tests, software integration tests, and hardware / software integration tests can be performed.

Here, the low level test is to test the accuracy of source code development, and to determine whether or not dead code is not performed through the software structural test, and to satisfy the kind of coverage specified at the software level. With the goal of 100% satisfaction, the DO-178B authentication tools CodeScroll and VectorCast can be used respectively. Among the types of coverage specified in DO-178B, MC / DC identifies all cases that can occur between individual conditions, and the software at Level A must do so.

In addition, software integration testing can be performed to verify the correlation between software requirements and components. The software integrated test can use the In-House verification tool to create a test case for each requirement verification item and perform the acceptance test. The test case used here consists of input, execution conditions and expected results. .

On the other hand, the present invention does not mean that the requirements and integrity verification of the system and the system configuration software when applied to the common loading system for the drone only by the above-described software test verification does not mean that there is no error in the system, In order to verify the integrity of the real-time operating system software, the system-level test that is integrated with each real application software in the actual target system environment and validated as a whole system is required. It can be said. Hereinafter, the functional test, robustness test and stress test of the system will be described for reference.

Functional tests reveal the differences between the functional requirements and the functional behavior of the system and demonstrate that the system meets the 'functional' requirements. These functional tests include tests based on the higher level requirements described in the requirements document and tests based on the lower level requirements described in the actual document.

Robust testing extends the boundary conditions of functional tests in a variety of fault scenarios that attempt to crash the system and free system conditions such as invalid input. The background motivation for applying robust testing results from the observation that most system faults occur during such unusual scenarios that are hard to be overlooked or difficult to understand during unit testing.

Stress tests depend on systems and software in extreme conditions with real-time workloads, large amounts of data, repeated instructions, and instructions for extended periods of time. The purpose of the stress test, called load test, is to measure the memory utilization characteristics in response time and data processing load conditions, which are particularly important for real-time operating systems. For example, the real-time operating system task switching time should be evaluated as a worst-case condition because it may depend on the amount of tasks in the prepared queue. Benchmarking techniques are very useful when measuring the critical performance criteria of a real-time operating system, including scheduling time, partition switching time, boot time, and interpartition communication time.

The preferred embodiments of the present invention have been described in detail with reference to the drawings. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the appended claims.

Accordingly, the scope of the present invention is defined by the appended claims rather than the foregoing detailed description, and all changes or modifications derived from the meaning, range, and equivalence of the claims are included in the scope of the present invention Should be interpreted.

100: drone flight control system 110: control unit
111: flight control unit 112: mission control unit
113: communication unit 120: flight control device
130: real-time operating system

Claims (5)

  1. A control unit partitioned into a flight control unit applicable to a multi-type drone shape, a mission control unit having a navigation solution applicable to a multi-type drone shape, and a data linkable communication unit with a ground control unit supporting the multi-type drone;
    A flight control device for inputting a signal to the control unit; And
    A real time operating system (RTOS) that serves as an interface between the controller and the flight control device and satisfies the ARINC 653 standard;
    , ≪ / RTI &
    The real-time operating system has real-time performance that can be deterministic at a designed time requiring a predictable and constant response time to perform a given task at a given time, and with power interruption in flight. Memory management with kernel loading that allows a boot time to be less than 1 second at warm start and is performed in fixed memory due to virtual memory usage and separates the program (text) and data (bss) regions. (memory manager), the process manager (process manager) function that can manage the health monitor status in conjunction with the failure management (failure management), nested interrupt and interrupt masking function customized to have an interrupt service function capable of interrupt masking. A flight control system for multiple aircraft.
  2. The method of claim 1,
    The control unit is a multi-stage drone flight control system, characterized in that consisting of time and space partitions for communication between the flight control unit, the mission control unit and the communication unit.
  3. The method of claim 1,
    The control unit includes a task scheduling and interrupt processing function using the real-time operating system, a function of monitoring an input signal of the flight control device and selecting a faulty signal, a failure site management and reporting function, and a control rule laws) Multi-purpose drones with automatic code application, input-output processor (IOP) / recommended standard (RS) -422 / 1553B interface support, and utility management features including fuel, electricity and engine Flight control system.
  4. delete
  5. delete
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KR101741208B1 (en) 2015-12-14 2017-05-29 엘아이지넥스원 주식회사 Gps message transmission system and gps message transmission method thereof
KR101744957B1 (en) 2016-12-26 2017-06-09 주식회사 지오스토리 Flight design system for aviation surveys that can map sun altitude angles and GPS DOP in conjunction with map API
KR101980646B1 (en) 2019-03-28 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication
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KR101990083B1 (en) 2018-11-09 2019-06-17 한화시스템 주식회사 Data process apparatus to support multiple data comunication
KR101990084B1 (en) 2019-03-27 2019-06-17 한화시스템 주식회사 Data process apparatus to support multiple data comunication
KR101990085B1 (en) 2019-03-27 2019-06-17 한화시스템 주식회사 Data process apparatus to support multiple data comunication
KR101990086B1 (en) 2019-03-27 2019-06-17 한화시스템 주식회사 Data process apparatus to support multiple data comunication

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101741208B1 (en) 2015-12-14 2017-05-29 엘아이지넥스원 주식회사 Gps message transmission system and gps message transmission method thereof
KR101744957B1 (en) 2016-12-26 2017-06-09 주식회사 지오스토리 Flight design system for aviation surveys that can map sun altitude angles and GPS DOP in conjunction with map API
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KR101990085B1 (en) 2019-03-27 2019-06-17 한화시스템 주식회사 Data process apparatus to support multiple data comunication
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KR101980646B1 (en) 2019-03-28 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication
KR101980651B1 (en) 2019-03-28 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication
KR101980644B1 (en) 2019-03-28 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication
KR101980652B1 (en) 2019-03-28 2019-05-21 한화시스템 주식회사 Data process method to support multiple data comunication

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