KR101934166B1 - APPARATUS AND METHOD OF SOFTWARE VERIFICATION FOR GUIDANCE CONTROL UNIT USING ClOSED-LOOP SIMULATION - Google Patents

Abstract

The present invention relates to a software verification apparatus and method for an induction steering apparatus using closed loop simulation and a software verification apparatus for an induction steering apparatus using closed loop simulation according to an embodiment of the present invention, An initial value input unit for inputting an initial value for the input value; A data generating unit for calculating verification input data by predicting a motion for the shot based on an initial value of the target and the shot and a current state of the drive unit model unit; An induction control device model unit for generating control data for guiding the shot by using the verification input data; A software verification unit for comparing result data according to flight times transmitted from the induction control device model unit and the induction control device, respectively; And a flight transition control unit for delaying a start point of flight of the data generation unit, the induction control unit model unit, and the drive unit model unit, wherein the induction control apparatus receives the verification input data from the data generation unit Outputs result data according to flight time.

Description

TECHNICAL FIELD [0001] The present invention relates to a software verification apparatus for induction control apparatus using closed loop simulation,

The present invention relates to a software verification apparatus and method for an induction control apparatus using closed loop simulation, and more particularly, to a method and system for synchronizing a induction control apparatus with an induction control apparatus, real-time test environment to verify the software for the induction control system. By integrating the simulation test and the induction control test to shorten the verification time, , And a software verification apparatus and method for an induction steering apparatus using closed loop simulation.

Generally, an induction control system of an induction weapon system includes an induction device for inducing a target point according to an induction rule, a control device for calculating a control command to control a flight attitude by a given induction command, And a driving device for controlling the motor.

Although the overall performance evaluation method for an induction steering system composed of such a complicated system can actually perform a flight test to perform a definite performance evaluation, it may cause a great risk to an actual flight test for a system designed for the first time. Furthermore, it can take a lot of expense to check the performance of the guided weapon system by flying tests alone.

As part of the performance evaluation method of the induction control device, the method of verifying the software installed in the induction control device can achieve the same performance evaluation as the actual flight test to some extent without performing the actual flight test, .

Generally, in order to verify the software installed in the induction control device, a plurality of test input / output data sets are formed and then utilized as input and verification data of the induction control device. In this case, the input / output data set can be obtained through various test conditions. That is, tens to hundreds of input / output data sets are configured according to the target position, the target speed, the initial position of the shot, the initial posture, the initial velocity, the atmospheric environment, In order to construct such an input / output data set, it is necessary to directly perform simulation for each condition. Such input / output data configuration should be re-executed if circumstances such as software update with induction control device, shape change affecting simulation, and other changes in missile loading device occur.

In particular, at the time of software development, I / O data sets must be frequently configured and verified, and a significant amount of time is required to construct and verify the I / O data set each time.

The software operation in the induction control outputs the results according to the relationship between the current state of the guided missile and the target, but the previous state of the missile can also affect the current output. That is, the induction steering apparatus does not always output the result A 'to any input A. Therefore, in order to verify the software installed in the induction control apparatus, the result of the closed loop simulation processing is stored, and the stored result is applied to the induction control apparatus through a separate test to compare the simulation processing result and the induction control apparatus output result .

Conventionally, in order to verify the software installed in the induction control apparatus, the verification result of the simulation is confirmed, and two tests for confirming the output result of the induction control apparatus are sequentially performed, so that the verification time is long. Further, conventionally, as described above, the input / output data set must be executed every time under various test conditions, so that the software verification time must be further increased.

As described above, in order to verify the software installed in the induction steering apparatus, simulation is performed under various test conditions as described above, and a data input / output set is configured as a result of simulation processing. Then, verification input data Simulation is performed once more and the results are confirmed. Because it performs two tests sequentially, it takes a lot of verification time.

In addition, since the simulation test and the induction control device test are separately performed, conventionally, a human error may occur due to user input in initial value input, simulation, and induction control device configuration. Furthermore, since the simulation test result or the induction control device test result may be different due to the mistake of the person in charge when the person performing the simulation test and the induction control device test is different, it is determined that the software is not appropriate It is possible.

Therefore, in order to verify the software installed in the induction steering apparatus in the past, it is necessary not only to shorten the verification time by integrating the simulation test and the induction control apparatus test, but also to eliminate the factor causing the mistake that can be caused by the user .

It is an object of the present invention to provide a system and method for synchronizing an induction control apparatus and an induction control apparatus by performing synchronization between an induction control apparatus and a start point of a flight state and changing a closed loop simulation environment to a real- There is provided a software verification apparatus and method for an induction steering system using closed loop simulation for eliminating a cause of error caused by a user as well as shortening a verification time by integrating simulation test and induction pilot test .

An apparatus for verifying software for an induction steering system using closed loop simulation according to an embodiment of the present invention includes an initial value input unit for inputting an initial value for a target and a target for software verification; A data generating unit for calculating verification input data by predicting a motion for the shot based on an initial value of the target and the shot and a current state of the drive unit model unit; An induction control device model unit for generating control data for guiding the shot by using the verification input data; A software verification unit for comparing result data according to flight times transmitted from the induction control device model unit and the induction control device, respectively; And a flight transition control unit for delaying a start point of flight of the data generation unit, the induction control unit model unit, and the drive unit model unit, wherein the induction control apparatus receives the verification input data from the data generation unit And outputs the result data according to the flight time. When the flight start signal is applied to the shot, the flight start time is set to a time point at which the input data of the induction control apparatus model unit and the induction control apparatus And the degree of delay of the fly-by transition of the induction steering apparatus is measured and determined.

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The drive unit modeling unit carries out a model for transmitting power for controlling the shot using the control data.

The data generation unit, the induction control unit model unit, and the drive unit model unit operate during the flight time of the missile.

The data generation unit, the induction control unit model unit, and the drive unit model unit perform a closed loop simulation for software to form a data flow of a closed loop structure.

The data generation unit may include a target motion model for estimating a 'position and velocity state value of a target' using an initial value for the target; An elastic motion model for estimating 'the position and velocity state value of the shot and the angular velocity and acceleration state value of the shot' using the initial value of the shot and the current state of the drive unit model unit; A searcher model for calculating a 'relative state value of a target to a shot' using the 'position and velocity state value of the target' and the 'position and velocity state value of the shot'; And an inertia meter model for calculating the 'angular velocity and acceleration state value of the modified shot' according to the characteristics of the inertia meter using the 'angular velocity and acceleration state value' of the shot.

The initial values for the target are three-axis target initial position, three-axis target initial velocity, and three-axis target initial position, and initial values for the target are three-axis initial position, tri- It is an initial posture.

The 'position and velocity state value of the target' is a 3-axis target position and 3-axis target velocity, and the 'position and velocity state value of the shot' is a 3-axis shot position and a 3-axis shot velocity, Acceleration state value 'is a 3-axis rotation angular velocity and 3-axis linear acceleration, and the' relative state value of the target to the shot 'is a 2-axis target relative angle and a 2-axis target relative angular velocity.

The verification input data includes the 'relative state value of the target to the shot' and the 'angular velocity and the acceleration state value of the corrected shot'.

The induction control device model unit may include a navigation model for calculating the 'corrected position, velocity, and attitude value of the shot' using the 'angular velocity and acceleration state value of the modified shot'. And an induction steering model for calculating result data according to the flying time using the 'relative state value of the target for the shot' and the 'position, velocity and posture state value of the corrected shot'.

The steering data is a state value for a steering angle of the steering wheel and a state value for a thrust vector of the shot.

Wherein the navigation model is a model implemented with the same function and version as the navigation software installed in the induction control apparatus, and the induction control model includes a model implemented with the same function and version as the induction control software installed in the induction control apparatus to be.

The software verification unit arranges the verification input data and the steering data by flight time and manages a series of the results of one cycle as one input / output data set.

A software verification method for an induction steering system using a closed loop simulation according to an embodiment of the present invention includes inputting initial values for targets and targets for software verification; Calculating verification input data by predicting a motion for the shot using an initial value of the target and the shot and a current state of the drive device; Inputting the verification input data to the induction control apparatus; Calculating control data through a model that controls the flight of the shot using the verification input data, and outputting result data according to flight time; And comparing the result data according to the output time with the result data according to the flight time output from the induction steering apparatus, wherein after the initial value is input, The starting point of the flight is delayed according to the degree of flight transition delay of the induction control apparatus when the flying start signal is applied to the ball, The input data of the induction control device model unit for calculating the control data through the model for controlling the flight and the input data of the induction control device are compared with each other to determine the degree of delay of the fly-by transition of the induction control device.

The software verification apparatus for an induction control apparatus using closed loop simulation further includes a step of calculating a control data and then performing a model for transferring power for controlling the shot using the control data do.

The present invention performs synchronization with the induction control apparatus at the start of flight state and changes the closed loop simulation environment to a real-time test environment of the induction control apparatus to perform verification of the software for the induction control apparatus, And induction-and-controller testing to shorten validation time, as well as eliminating user-induced error-causing factors.

Further, in verifying the software installed in the induction control apparatus, the present invention not only shortens the verification time by integrating the simulation test and the induction control apparatus test, but also eliminates the factors causing the mistakes that may be caused by the user have.

Also, the present invention reduces the execution time by combining two separate processes, and can reduce the user's mistakes in setting the environment by simultaneously performing tests in the same environment.

In addition, the present invention can reduce the work of performing the existing software simulation and the software verification in a single operation in the same environment, thereby preventing the initial value input mistake and the simulation environment setting mistake.

1 is a diagram of a software verification apparatus for an induction steering system using closed loop simulation according to an embodiment of the present invention;
FIG. 2A shows a detailed configuration of the data generating unit of FIG. 1,
FIG. 2B is a diagram showing a detailed configuration of the induction control device model unit of FIG. 1,
2C is a diagram showing the induction control apparatus of FIG. 1,
FIG. 3A illustrates real-time system quantum asynchronous operation; FIG.
FIG. 3B is a diagram illustrating real-time system-to-system synchronous operation;
Figure 4 illustrates process synchronization between a software verification device and an inductive steering device,
5 is a diagram illustrating process asynchronism due to a flight state transition delay between a software verification apparatus and an induction steering apparatus,
6 is a diagram illustrating a software verification method for an induction steering apparatus using closed loop simulation according to an embodiment of the present invention.

For a better understanding of the present invention, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. The embodiments of the present invention may be modified into various forms, and the scope of the present invention should not be construed as being limited to the embodiments described in detail below. The present embodiments are provided to enable those skilled in the art to more fully understand the present invention. Therefore, the shapes and the like of the elements in the drawings can be exaggeratedly expressed to emphasize a clearer description. It should be noted that in the drawings, the same members are denoted by the same reference numerals. Detailed descriptions of well-known functions and constructions which may be unnecessarily obscured by the gist of the present invention are omitted.

FIG. 1 is a block diagram of a software verification apparatus for an inductive steering system using a closed loop simulation according to an embodiment of the present invention. FIG. 2a is a detailed configuration of the data generation unit of FIG. 1, 1 is a diagram showing the detailed configuration of the induction control apparatus model unit, and Fig. 2C is a diagram showing the induction control apparatus of Fig.

A software verification apparatus (hereinafter referred to as a "software verification apparatus") 100 for an induction control apparatus using closed loop simulation according to an embodiment of the present invention performs a closed-loop simulation for software for an induction control apparatus, And an induction control system verification test. That is, the software verification apparatus 100 performs synchronization with the induction control apparatus 200 at the start of flight state, and outputs a closed-loop simulation environment to the induction control apparatus 200 in a real-time test Environment to verify the software for the induction control system. Here, the software for the induction control device includes navigation software, induction control software, and on-board software, which are mounted on a missile, which is one of the flying objects.

The reason why the software verification apparatus 100 performs the verification operation in the real-time test environment is that the time required for the actual pilot missile to fly (i.e., the flight time of the missile) from the launching point of the missile to the target arrival point ) Of the software that is installed on the computer. Therefore, the data generation unit 120, the induction control unit model unit 130, and the drive unit model unit 140, which will be described later, must operate during the flight time of the missile.

The software can be judged to be suitable for the induction steering apparatus 200 when it is able to process the defined mission in a real time test environment at a predetermined time. In this case, the software verifying apparatus 100 and the induction steering apparatus 200 show the same result data according to the flight time. On the other hand, the software is difficult to process the mission set in the real-time test environment at a predetermined time, so that the software can be judged to be inappropriate for the induction steering apparatus 200 when the delay occurs in the mission execution. In this case, the software verification apparatus 100 and the induction steering apparatus 200 show different result data according to the flight time.

The software verification apparatus 100 includes an initial value input unit 110, a data generation unit 120, an induction control device model unit 130, a drive device model unit 140, A software verification unit 150, and a flight transition control unit 160.

The software verification apparatus 100 performs a closed loop simulation for software to form a data flow of a closed loop structure. The software verifying apparatus 100 may be configured such that each model of the data generating unit 120, the induction control device model unit 130, and the driving device model unit 140, .

The initial value inputting unit 110 inputs simulation initial values for software verification targets and targets. That is, the initial value input unit 110 receives initial values (i.e., triaxial target initial position, triaxial target initial velocity, triaxial target initial position) for the target, initial values (i.e., 3-axis initial velocity, 3-axis initial velocity), and atmospheric information (ie, wind intensity, wind direction, atmospheric pressure). Here, the initial value input unit 110 may provide the user with a user interface environment for inputting the initial values for the target and the shot.

The initial value input unit 110 transmits an initial value for the target to the target motion model 121 of the data generation unit 120, To the model 122. In addition, the initial value input unit 110 transmits an initial value for the target and the shot to the induction control device 200.

The data generation unit 120 predicts motion for the shot based on the simulation initial values of the target and the shot transmitted from the initial value input unit 110 and the current state of the drive unit model unit 140, (Hereinafter referred to as "verification input data"). The data generating unit 120 predicts the motion of the shot according to the current state of the drive unit model unit 140 driven as a result of the operation of the induction control apparatus 200 and predicts the target motion, To the device model unit 130.

Also, the data generator 120 provides a guided vehicle simulation environment in which the initial value input and the current state of the drive unit model unit 140 are simulated based on the target motion, the tilt motion, the search unit, and the inertial measurement unit.

The data generation unit 120 includes a target motion model 121, a motion model 122, a searcher model 123, and an inertial sensor model 124.

The target motion model 121 is an approximated model for analyzing the motion of a target moving by kinetic dynamics and uses the initial value of the target transmitted from the initial value input unit 110 to calculate the target position and the velocity state value That is, three-axis target position, three-axis target velocity). Then, the target motion model 121 transmits the position and velocity state values of the target to the searcher model 123.

Similarly, the turbulent motion model 122 is an approximate model for analyzing the motion of the ball moving by kinetic dynamics. The approximate model includes an initial value for the shot delivered from the initial value input unit 110, Based on the present state value, the position and velocity state values (ie, 3-axis position and 3-axis position) and the angular velocity and acceleration state values (ie, 3-axis rotational angular velocity and 3-axis rotational linear acceleration) Can be estimated. The toroidal motion model 122 transmits the position and the velocity state values of the toroid (i.e., the triaxial thrust position and the triaxial thrust) to the searcher model 123, and calculates the angular velocity and acceleration state values Axis axial rotation angular velocity, 3-axis linear acceleration) to the inertia measuring device model 124. [

The navigator model (123) is a model approximating the navigator function of finding and tracking a target and confirming the direction or position of the target. That is, the explorer model 123 receives the position and velocity state values of the target from the target motion model 121, receives the position and velocity state values of the shot from the shot motion model 122, State value (i.e., a biaxial target relative angle and a biaxial target relative angular velocity). Here, the explorer model 123 transmits the relative state value of the target to the coal to the induction control apparatus model unit 130 and the induction control apparatus 200. At this time, the results can be modified according to the characteristics (performance) of the actual explorer.

The inertial gauge model 124 is a model in which a gyroscope that measures the angular velocity of a shot in a three-dimensional inertial space and an accelerometer that measures linear acceleration are approximated. That is, the inertia measuring instrument model 124 receives the angular velocity and the acceleration state value (that is, the 3-axis rotational angular velocity and the 3-axis rotational linear acceleration) of the shot from the rotational motion model 122, The angular velocity and the acceleration state value (i.e., triaxial rotation angular velocity #, triaxial linear acceleration #) are calculated. Here, the inertia measuring instrument model 124 calculates the angular velocity and the acceleration state value (i.e., the 3-axis rotational angular velocity #, the 3-axis rotational linear acceleration # ).

Therefore, the above-described verification input data includes the relative state values of the target (i.e., biaxial target relative angles, biaxial target relative angular velocities) to the shot, angular velocity and accelerated state values of the corrected shot (i.e., , Triaxial linear acceleration #) can be included.

The induction control device model unit 130 calculates a state value through a model that controls the flight of the bullet using the verification input data transmitted from the data generation unit 120. That is, the induction control device model unit 130 executes the input of the verification input data, calculates the state value for flying the desired direction of the bullet, and transmits the state value to the driving device model unit 140.

The induction control device model unit 130 includes a navigation model 131 and an induction control model 132.

The navigation model 131 is a model implemented with the same function and version as the navigation software in order to verify the 'navigation software' installed in the induction control device 200, but the navigation software and the used software language may be different. Similarly, the induction steering model 132 is a model implemented with the same function and version as the induction steering software to verify the 'induction steering software' mounted on the induction steering apparatus 200, but the induction steering software and the used software language Can be different.

The navigation model 131 receives the corrected angular velocity and acceleration state values (i.e., 3-axis rotation angular velocity #, 3-axis linear acceleration #) of the modified shot from the inertial measurement device model 124, (I.e., 3-axis shot position #, 3-axis shot speed #, 3-shot shot #). The navigation model 131 transfers the corrected position, velocity, and attitude values of the bullets to the inductance steering module 132.

The inductive steering model 132 receives the relative state values of the target (that is, the biaxial target relative angles and the biaxial target relative angular velocities) from the searcher model 123, Position and speed state values (i.e., 3-axis shot position #, 3-axis shot speed #), and calculates result data according to the flight time. Then, the induction steering model 132 transmits the result data according to the flight time to the software verification unit 150.

In addition, the induction steering model 132 transmits the state value for the steering angle of the steering wing and the state value for the thrust vector of the shot to the drive unit model unit 140. Hereinafter, the state values transmitted to the drive unit model unit 140 by the induction steering model 132 will be referred to as "steering data"

The driving unit model unit 140 implements a model for transmitting power for controlling the ball using the steering data transmitted from the induction steering unit model unit 130. The drive unit model unit 140 configures a feedback control system to enable a closed loop simulation.

The software verification unit 150 receives the verification input data according to the flight time transmitted from the data generation unit 120, the steering data according to the flight time transmitted from the induction steering device model unit 130, The result data is transmitted according to the flight time. Here, the result data according to the flight time of the induction steering apparatus 200 includes all the input / output data.

In particular, the software verification unit 150 compares the verification input data according to the flight time transmitted from the data generation unit 120 with the result data (input data) according to the flight time transmitted from the induction steering apparatus 200, And the result data (output data) according to the flight time transmitted from the induction control device model unit 130 and the flight time transmitted from the induction control device 200 are compared with each other, And verifies software installed in the mobile terminal 200.

The software verification unit 150 receives and stores the verification input data from the data generation unit 120 and receives the control data from the induction control device model unit 130 and stores the received control data. That is, the software verification unit 150 determines whether or not the relative state value of the target (that is, the biaxial target relative angle, the biaxial target relative angular velocity), the angular velocity of the corrected shot and the acceleration state value #, 3 axis linear acceleration #), the state value for the steering angle of the wing blade, and the state value for the thrust direction of the shot.

The software verification unit 150 arranges the verification input data and the control data for each flight time and manages a series of the results of one cycle as a set (bundle). That is, the software verification unit 150 inputs the input of the induction control device model unit 130 (i.e., the navigation model 131 and the induction control model 132) to verify the software installed in the induction control apparatus 200 And outputs are stored every cycle to construct an input / output data set.

After the flight state transition, the flight transition control unit 160 performs synchronization with the induction steering apparatus 200 at the start of the flight state. A detailed description thereof will be described with reference to FIG. 4 and FIG. 5 which will be described later.

The initial value input to the data generator 120 from the initial value input unit 110 is transmitted from the initial value input unit 110 to the induction control apparatus 200 in the same manner. That is, the induction control apparatus 200 receives the initial value (i.e., the initial position of triaxial charge, the initial velocity of triaxial charge, the initial position of triaxial charge) and the initial value 3 Axis target initial position). In this way, some of the inputs of the data generation unit 120 are input to the induction control apparatus 200 in the same manner.

The induction steering apparatus 200 receives the relative state values of the target (that is, the biaxial target relative angular velocity and the biaxial target relative angular velocity) with respect to the ball from the searcher model 123, The angular velocity and the acceleration state value (i.e., three-axis rotation angular velocity #, three-axis linear acceleration #) are received.

The software verification unit 150 determines whether the operation period between the software verification apparatus 100 and the induction control apparatus 200 is synchronized by including all of the input / output data in the result data according to the flight time of the induction control apparatus 200, .

FIG. 3A is a diagram showing a real-time system asynchronous operation between the real-time systems, and FIG.

A general real-time system performs a process with a predetermined operation cycle. Therefore, if two real-time systems have the same process start time and process time interval, then both systems can operate synchronously. Two real-time systems start and synchronize processes by internal or external synchronization signals.

The A and B systems shown in FIG. 3A show an example of performing asynchronous operation as a real time system, and the C and D systems shown in FIG. 3B show an example of performing a synchronous operation as a real time system.

The A and B systems in FIG. 3A perform an asynchronous operation because they have the same operation period (10 ms) but do not have the same or different cycle start. That is, both systems are not synchronized with each other because of the unpredictable time difference (interval X). This unpredictable time difference is determined when the system is started.

On the other hand, the C and D systems of FIG. 3B perform a synchronous operation because the operation periods (10 ms) are equal to each other and the period starts at the same time. That is, both systems synchronize the start of receiving the synchronization signal from either the A system, the B system, or the external equipment. Both systems can start the cycle by setting a constant offset from the sync signal.

As described above, synchronization between the software verification apparatus 100 and the induction steering apparatus 200 is important in order to perform real-time verification of the software. As described above, the software verification apparatus 100 and the induction control apparatus 200 operate by synchronizing the process start time and the process time interval equally.

FIG. 4 is a diagram illustrating process synchronization between a software verification apparatus and an induction steering apparatus, and FIG. 5 is a view for explaining process asynchronization due to a flight state transition delay between a software verification apparatus and an induction steering apparatus.

The induction steering apparatus 200 receives the verification input data from the software verification apparatus 100 and starts the process cycle. That is, the verification input data is used as an internal process synchronization signal of the induction steering apparatus 200. Specifically, the verification input data includes the result data transmitted from the searcher model 123 and the inertial meter model 124, and the internal process synchronization signal of the induction steering apparatus 200 is input to the searcher model 123 or the inertial meter model 124 124). ≪ / RTI > It is preferable that the internal process synchronizing signal of the induction steering apparatus 200 uses the result data of the inertial measuring instrument model 124 used as main input data in connection with the flight of the shot.

As described above, the software verification apparatus 100 transmits the verification input data to the induction steering apparatus 200. Here, the resultant data of the inertia measuring instrument model 124 is included in the verification input data. As a result, the software verification apparatus 100 can control the operation cycle of the induction steering apparatus 200 by adjusting the transmission time of the verification input data.

4, since the software verification apparatus 100 first needs to perform the operation of the data generation unit 120, the software verification apparatus 100 starts the process before the induction control apparatus 200 to calculate the verification input data, To the steering apparatus 200. That is, the execution time of the data generation unit 120 is the sum of the execution times of the target motion model 121, the turbulent motion model 122, the explorer model 123, and the inertial measurement device model 124, respectively. The induction steering apparatus 200 may start the process based on the inductive data received from the software verification apparatus 100. [

However, the induction control apparatus 200 does not wait indefinitely for the verification input data due to the characteristics of the real-time system. The induction control apparatus 200 has a tolerance as much as the operation is not abnormal. Accordingly, the induction steering apparatus 200 regards the error as the error if the verification input data does not come within the tolerance time, and starts the process when the verification input data is within the tolerance time.

The software verification apparatus 100 and the induction control apparatus 200 are synchronized with each other based on the transmission period of the verification input data. Accordingly, the induction control device model unit 130 and the induction control device 200 of the software verification apparatus 100 receive the same data based on the verification input data, perform the same process in real time, and output the results.

In other words, the software verification apparatus 100 starts the process ahead of the induction steering apparatus 200, but the processes for software verification are synchronized with each other at the start of the process. The process time intervals are the same.

Hereinafter, a process in which the software verification apparatus 100 and the induction control apparatus 200 generate asynchronism in the process of starting the flight state transition process will be described with reference to FIG. Here, the state of flight state transition refers to a state in which a user launches a shot of a shot and fires (for example, a user selects a shot button).

The software verification apparatus 100 can start the flight state without a time delay due to the flight state transition when the flight state transition process is performed by the specific signal of the launch procedure. This is because the launching procedure is performed in the software verifying apparatus 100. That is, the software verification apparatus 100 may match the flight state transition point and the flight state start point.

On the other hand, the induction steering apparatus 200 requires a predetermined state transition time to complete the flight state transition process due to the recognition and change of the state of the state transition signal after the state transition of the state of flight in the software verification apparatus 100 Do. Here, the flight state transition delay may be caused by a case where the recognition of the flight state transition signal is slow in the launching process, a new process is executed for the flight state, and the like. Generally, the missile has a stabilization period at the beginning of flight, so it is not necessary to recognize the flight state transition signal quickly. The state transition time can be expressed as a performance cycle, and one cycle is 10 ms, for example.

The induction steering apparatus 200 is in a state before the start of the flight state when the verification input data is transmitted from the software verification apparatus 100 within the state transition time. In this case, the software verification apparatus 100 is in a flying state, but the induction steering apparatus 200 is not in a flying state.

In this way, the induction control apparatus 200 does not use the verification input data transmitted from the software verification apparatus 100 as the input data when it is in the process of transition to the flying state, not the flight state. That is, the induction control device 200 does not perform the subsequent procedure using the verification input data (that is, the control data calculation) because it is in the flight state transition process Do not use.

5, the induction control apparatus 200 does not perform the operation using the first verification input data due to the time delay of the flight status transition process (201), and the software verification apparatus 100 does not perform the operation using the first verification input data 100) using the second verification input data (202).

For example, it is assumed that the software verification apparatus 100 and the induction control apparatus 200 operate for three cycles. The software verification apparatus 100 and the induction steering apparatus 200 output the same result data in the corresponding period because there is no flight state transition process (see FIG. 4) because the operation cycles between the software verification apparatus 100 and the induction steering apparatus 200 are synchronized. Accordingly, the software verification unit 150 can perform the software verification by comparing the same result data for each cycle.

Referring to Table 1 below, when the induction control device 200 experiences a delay in the flight state transition process It can be assumed that the result data is output as shown below. That is, in the software verification apparatus 100, 'A' is processed as the first verification input data, 'B' is processed as the second verification input data, 'C' is processed as the third verification input data, &Quot; D " is processed. The operation cycle represents a time interval (flight time) at which the software verification apparatus 100 and the induction control apparatus 200 receive and output the verification input data after the start of the flight state, respectively. Table 1 shows the occurrence of the flight state transition delay.

action
Cycle Software verification device
From
Verification input data Software verification device
Steering data of
Induction control device
From
Input data Induction control device
Output data 1 cycle A A # B B ## 2 cycles B B # C C ## Three cycles C C # D D ## 4 cycles D D # E E ##

In Table 1, the software verification apparatus 100 outputs the control data 'A #' since the first verification input data 'A' is input in one cycle, and the second verification input data 'B' B # ', and the third verification input data' C 'is input in three cycles, and therefore, the control data' C # 'is output.

On the other hand, since the induction control apparatus 200 is in the process of transitioning to the flight state transition at a time corresponding to one cycle of the software verification apparatus 100, the flight state transition process is interrupted and the verification input data is input and output I never do that. That is, the induction control apparatus 200 inputs the first verification input data 'A' but does not output the result data 'A ##'.

Thereafter, when the induction control device 200 corresponds to two cycles of the software verification apparatus 100, the inductive control device 200 performs the one cycle operation for the output according to the input of the verification input data since it is in the flight state. In this case, since the second verification input data 'B' is input, the induction steering apparatus 200 outputs the result data 'B ##'. Similarly, the induction control apparatus 200 outputs the result data 'C ##' because the third verification input data 'C' is inputted in two cycles, and the fourth verification input data 'D' '.

Thus, the induction control apparatus 200 is not synchronized with the operation cycle of the software verification apparatus 100 because the induction control apparatus 200 can not process the verification input data received from the software verification apparatus 100 when performing the flight state transition process You will not be able to miss that cycle. As a result, the software verification apparatus 100 and the induction steering apparatus 200 have different result data from each other in a specific operation cycle. In other words, the software verification apparatus 100 and the induction steering apparatus 200 are different in the result data stored in the current state.

As mentioned above, unless the verification input data is delayed by one cycle, each system stores the current state differently, and the output result error becomes larger.

As an example of such a cause, the navigation output data such as position, speed, and acceleration are briefly described. There are 'triaxial linear acceleration information' among the verification input data. Based on this information, both the software verification apparatus 100 and the induction control apparatus 200 update the current speed and position. That is, the acceleration is integrated by time to calculate the velocity, and the velocity is integrated by time to calculate the position. In this case, the current state is updated based on the previous state (location, speed), so the previous state is important. As shown in Table 1, if one input of one cycle is missed, a constant velocity error is maintained even if the position and velocity data of the previous state that are currently known are different from each other and the same verification input data (acceleration) is input thereafter. Therefore, the positional error between them continuously increases. If the previous states are different from each other, an error may be caused in the results of many operations using the current position.

As described above, the software verification apparatus 100 and the induction steering apparatus 200 need to be synchronized with each other at the start of the flight state after the flight state transition. Accordingly, the software verification apparatus 100 adjusts the start of the flight state. This is done in the flight transition control unit 160 of the software verification apparatus 100. [

Specifically, the software verification apparatus 100 verifies the software installed on the induction control apparatus 200 without considering the delay of the operation cycle when the induction control apparatus 200 performs the initial test (that is, After the test, the verification input data of the software verification apparatus 100 and the input data of the induction steering apparatus 200 are compared at the same cycle to measure the delay of the operation cycle. Referring to FIG. 5 and Table 1, since the verification input data in two cycles of the software verification apparatus 100 is the same as the input data in one cycle of the induction control apparatus 200, it is known that the operation cycle of one cycle is delayed .

Therefore, the software verification apparatus 100 can perform the process synchronization with the induction steering apparatus 200 by delaying the flight state start point by one cycle. For example, if the induction control apparatus 200 transits to the flying state in 0.05 seconds after the start of the flight state start signal, the software verification apparatus 100 delays the flight state start time by 0.05 second.

In this way, the software verification apparatus 100 can synchronize the starting point of time with the induction control apparatus 200 by changing the start point of flight state according to the type of the induction control apparatus 200. [ The homogeneous induction steering apparatus 200 always has the same delay time. Therefore, the delay time is applicable to the homogeneous induction steering apparatus 200 in a single measurement, and it is not necessary to perform measurement for each software verification operation.

The conventional software verification time includes a software simulation execution time 'T1' for generating an input / output data set, an execution time 'T2' for initializing an induction control device, inputting an initial value, executing a launch procedure, , It can be expressed as 'T1 + T2 + T3'.

On the other hand, the software verification time of the present invention can be expressed as 'T2 + T3'. That is, since the execution time of T1 is less than or equal to the execution time of T3 and is performed in parallel, the execution time of T1 can be eliminated. This is because the software verification apparatus 100 for simulation and the induction steering apparatus 200 are separately provided and parallel processing is possible. Since the number of execution of T1 is frequent in the development of the guided missile, the software verification time of the present invention can be shortened.

In addition, the software operation mounted on the induction control apparatus 200 outputs a result according to the relationship between the current state of the guided missile and the target, but the previous state of the missile also affects the present output result. As a result, the induction steering apparatus 200 does not always output the result A 'to any input A. Therefore, conventionally, the closed loop simulation result is stored for software verification mounted on the induction control apparatus 200, the result stored in a separate test is applied to the induction control apparatus, and the simulation result is compared with the induction control apparatus output result. Therefore, in the past, two test progresses increase the verification test time and can cause user mistakes such as initial value input and simulation environment setting.

However, the software verifying apparatus 100 of the present invention can not only reduce the software verification time but also reduce the user's mistakes.

6 is a diagram illustrating a software verification method for an induction steering apparatus using closed loop simulation according to an embodiment of the present invention.

The software verification apparatus 100 inputs simulation initial values for targets and targets for software verification (S211). Further, the induction control device 200 receives initial values for initialization and software verification (S212, S213).

Thereafter, the software verification apparatus 100 performs a flight state transition process of the induction steering apparatus 200 (S214, S215) as the carburizing process is performed. At this time, the flight transition control unit 160 controls the flight of the data generating unit 120, the induction control device model unit 130, and the drive device model unit 140 according to the flight state transition delay time of the previously stored in- In step S216, the software verification apparatus 100 and the induction control apparatus 200 are synchronized with each other at the starting point of the flight.

 Accordingly, the software verification apparatus 100 can perform the software verification operation reflecting the delay time according to the flight status transition process of the induction control apparatus 200. [

Here, the synchronization procedure (steps S214 to S216) according to the above-described flight state transition process is performed prior to the software verification operation, but may be performed at any point in the software verification operation. However, the operation cycle delay is measured prior to the software verification operation so that it can be applied immediately when the launching procedure of the bullet is performed at any point during the software verification operation.

Then, the software verification apparatus 100 performs a series of data generation unit 120 and an induction control device model unit 130.

First, the software verification apparatus 100 confirms whether the target reaches the target (S219) while performing the target and the shot motion model (S217, S218). Here, the software verification apparatus 100 may perform the confirmation process as to whether or not the target has reached the target, after the overall modeling (after the step S226 to be described later).

The software verifying apparatus 100 executes the inertial measuring instrument model to store the result data according to the flight time (S220) when the shot has not reached the target, that is, when the shot is in the flight state (S219) The result data corresponding to the flight time outputted from the model is input to the induction steering apparatus 200 (S221). At the same time, the software verification apparatus 100 performs the searcher model and stores the result data according to the flight time (S222), and inputs the result data according to the flight time output from the searcher model to the induction steering apparatus 200 S223). At this time, the software verification apparatus 100 and the induction control apparatus 200 are synchronized with each other based on the transmission period of the verification input data.

Thereafter, the software verification apparatus 100 carries out a navigation model, an inductive steering model, and a driving device model, and stores result data according to the flight time (S224, S225). At this time, the induction control apparatus 200 performs software (e.g., navigation software, induction control software, onboard operation software) installed therein and then stores the result data according to the flight time (S226).

Meanwhile, the software verification apparatus 100 repeats the above-described steps S220 to S226 until the target reaches the target (S219). Thereafter, the software verification apparatus 100 determines that the target has reached the target (S219) as follows. At this time, the software verification apparatus 100 determines the validity of the test according to the comparison result of the input data according to the flight time (i.e., the verification input data and the input data of the induction steering apparatus) (S227, S228) The test result is outputted according to the result of the comparison between the output data (that is, the steering data and the output data of the induction steering apparatus) and the operation is terminated (S229).

If the input data according to the flight time do not coincide with each other, the degree of delay of the input data is measured and reset (S228). If the input data according to the flight time coincide with each other, (S229). When the result data according to the flight time coincide, the software verification result indicates 'no abnormality', and when the result data according to the flight time do not coincide with each other, the software verification result indicates 'abnormal'.

As described above, when the input data according to the flight time do not coincide with each other, it can be determined that there is a problem in the test. In particular, if a delay occurs in the input data, the delay time at the start of flight can be readjusted.

It will be apparent to those skilled in the art that various modifications and equivalent arrangements may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Accordingly, it is to be understood that the present invention is not limited to the above-described embodiments. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims. It is also to be understood that the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

100: Software verification device 110: Initial value input unit
120: Data generation unit 121: Target motion model
122: Tan motion model 123: Explorer model
124: Inertial Meter Model 130: Induction Control Unit Model Unit
131: Navigation model 132: Induction steering model
140: drive device model unit 150: software verification unit
160: Flying transition control section 200: Induction control device

Claims (15)

An initial value input unit for inputting an initial value for a target for software verification and a shot;
A data generating unit for calculating verification input data by predicting a motion for the shot based on an initial value of the target and the shot and a current state of the drive unit model unit;
An induction control device model unit for generating control data for guiding the shot by using the verification input data;
A software verification unit for comparing result data according to flight times transmitted from the induction control device model unit and the induction control device, respectively; And
And a flight transition control unit for delaying the start point of time of the data generation unit, the induction control unit model unit, and the drive unit model unit,
Wherein the induction control apparatus receives the verification input data from the data generation unit and outputs result data according to flight time,
The starting point of the flight,
When the flying start signal is applied to the shot, the input data of the induction control device model unit and the induction control device are compared after the initial test of the induction control device to measure the degree of the fly transition delay of the induction control device A software verification device for an inductive steering system using a closed loop simulation.
delete The method according to claim 1,
The drive device model unit includes:
And a model for transferring power for controlling the shot by using the control data.
The method according to claim 1,
Wherein the data generation unit, the induction control device model unit, and the drive unit model unit are closed loop simulations operated during the flight time of the missile.
The method according to claim 1,
Wherein the data generation unit, the induction control unit model unit, and the drive unit model unit perform a closed loop simulation for software to form a data flow of a closed loop structure.
The method according to claim 1,
Wherein the data generating unit comprises:
A target motion model for estimating ' target position and velocity state value ' using an initial value for the target;
An elastic motion model for estimating 'the position and velocity state value of the shot and the angular velocity and acceleration state value of the shot' using the initial value of the shot and the current state of the drive unit model unit;
A searcher model for calculating a 'relative state value of a target to a shot' using the 'position and velocity state value of the target' and the 'position and velocity state value of the shot'; And
An inertial measuring device model for calculating the 'angular velocity and acceleration state value of the modified shot' according to the characteristics of the inertial measuring device using the 'angular velocity and acceleration state value' of the shot.
A software verification device for an inductive steering system using closed loop simulation.
The method according to claim 6,
The initial values for the target are three-axis target initial position, three-axis target initial velocity, and three-axis target initial position, and initial values for the target are three-axis initial position, tri- Software Verification System for Induction Control System Using Closed Loop Simulation in Initial Position.
The method according to claim 6,
The 'position and velocity state value of the target' is a 3-axis target position and 3-axis target velocity, and the 'position and velocity state value of the shot' is a 3-axis shot position and a 3-axis shot velocity, Acceleration state value 'is a 3-axis rotation angular velocity and a 3-axis linear acceleration, and the' relative state value of the target to the shot 'is a 2-axis target relative angle and a 2-axis target relative angular velocity, Software verification device.
The method according to claim 6,
Wherein the verification input data includes the 'relative state value of the target to the shot' and the 'angular velocity and the acceleration state value of the corrected shot'.
The method according to claim 6,
Wherein the induction control device model unit comprises:
A navigation model for calculating the 'corrected position, velocity, and attitude value of the shot' using the 'angular velocity and acceleration state value of the modified shot'; And
An induction steering model for calculating result data according to the flying time using the 'relative state value of the target for the shot' and the 'position, velocity, and posture state value of the modified shot';
A software verification device for an inductive steering system using closed loop simulation.
The method according to claim 1,
Wherein the steering data is a closed loop simulation that is a state value for a steering angle of the steering wheel and a thrust vector of the shot.
11. The method of claim 10,
Wherein the navigation model is a model implemented with the same function and version as the navigation software installed in the induction control apparatus, and the induction control model includes a model implemented with the same function and version as the induction control software installed in the induction control apparatus Software Verification Device for Inductive Steering Robot Using Closed Loop Simulation.
The method according to claim 1,
The software verifying unit,
And a closed loop simulation in which the verification input data and the steering data are sorted by flight time to manage a series of the results of one cycle as one input / output data set.
Inputting initial values for targets and targets for software verification;
Calculating verification input data by predicting a motion for the shot using an initial value of the target and the shot and a current state of the drive device;
Inputting the verification input data to the induction control apparatus;
Calculating control data through a model that controls the flight of the shot using the verification input data, and outputting result data according to flight time; And
And comparing the result data according to the output time with the result data according to the flight time output from the induction steering apparatus,
Wherein when the shot is changed to the flying state after the initial value is inputted, the start point of the flight is delayed according to the degree of delay of the fly-by transition of the induction control apparatus,
The starting point of the flight,
An induction control device model part for calculating control data through a model for controlling the flight of the bullet after the initial test of the induction control device when the flying start signal is applied to the bullet and input data of the induction control device And the degree of flight transition delay of the induction control apparatus is measured and determined by using the closed loop simulation.
15. The method of claim 14,
And executing a model for transmitting the power for controlling the shot by using the control data after calculating the control data. A method for verifying software for an induction steering system using closed loop simulation.

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