KR101982536B1 - System for verifying flight software of flight control device using flight simulation - Google Patents

Abstract

The present invention relates to a system for verifying software installed on a flight control apparatus by utilizing a simulated flight technique, the system comprising: a mounting apparatus having built-in software including a plurality of tasks having unique functions and having priority and periodicity; A simulation system of a loading device simulating a software operation state of a loading device in real time by executing a flight trajectory simulation model according to a command of the loading device; And a fire control / verification monitoring system for operating the on-board equipment and receiving verification data based on the simulation data output from the on-board equipment simulation system from the on-board equipment at predetermined intervals to verify the software characteristics of the onboard equipment. And the verification data includes a task heart bit indicating a performance state of each task.

Description

TECHNICAL FIELD [0001] The present invention relates to a software control system for a flight control device,

The present invention relates to a mounted software verification system that utilizes a simulated flight technique, and more particularly, a mounted software verification system that verifies the characteristics of software installed in a flight control device.

 Flight Control Unit (FCU) performs flight mission data and launch procedures through communication with fire control equipment before launch, conducts guidance and control algorithms in real time after launch, and performs in-flight digital communication and discrete signal control And control flight system components such as inertial navigation devices, drives, and engine control devices through input / output interfaces, The functions and functions of such a flight control device are implemented and processed by real-time software installed in the flight control device.

The software with the flight control device is composed of the execution structure of the task having the unique function (the work unit performing the minimum function). As the function of the loading software increases, the task execution structure becomes complicated. Therefore, proper functional operation verification and validation of task execution structure with data dependency and control dependency is an essential task in flight control device development.

It is also a very important verification task to ensure that the flight control device software has correctly processed the output data to the hardware interface within a given time period by carrying out the flight mission. Assuming that the induction control hardware works correctly, the command value generated by the flight control device software and the feedback value output from the hardware interface must have the same meaning. Otherwise, it means that the flight control device mounted software does not work correctly, so accurate verification of the output data of the flight control device loaded software is necessary.

However, conventionally, the input / output operation status of the flight control device has been confirmed mainly through the system integration check after the delivery of the flight control device, and when a problem occurs, it takes much time and cost to solve the problem, There was a downside.

It is an object of the present invention to provide a mounted software verification system that can verify the characteristics of the software installed on the flight control apparatus by utilizing simulated flight technology before system integration check.

It is another object of the present invention to provide a mounted software verification system which can confirm and verify the robustness of the task execution structure of the flight control device loading software and the accuracy of the input / output data in the simulated flight environment.

It is still another object of the present invention to provide a mounted software verification system capable of performing accurate verification of output data of the mounting software.

According to an aspect of the present invention, there is provided a task execution structure verification system for a mounting software, the task execution structure verification system comprising: a mounting device for mounting software including a plurality of tasks having a unique function and a priority and periodicity; A simulation system of a loading device simulating a software operation state of a loading device in real time by executing a flight trajectory simulation model according to a command of the loading device; And a fire control / verification monitoring system for operating the on-board equipment and receiving verification data based on the simulation data output from the on-board equipment simulation system from the on-board equipment at predetermined intervals to verify the software characteristics of the onboard equipment. .

According to embodiments of the present invention, the on-board equipment may include a flight control device, an inertial navigation device, and a searcher.

According to an embodiment of the present invention, the flight trajectory simulation model is a 6-DOF (Degrees Of Freedom) flight trajectory simulation model and may include a flight control technique model, an inertial navigation model, and an explorer model.

According to the embodiment of the present invention, the on-board equipment constitutes verification data of a task heart bit configuration indicating a performance status per task based on the simulation data output from the on-board device simulation system, 16-bit or 32-bit data type configuration.

According to the embodiment of the present invention, a bit value indicating the priority and execution of each task may be allocated to each bit of the task heartbeat.

According to the embodiment of the present invention, the priority of the task can be assigned in order from the rightmost or leftmost bit of the task heartbeat to the task having the highest priority.

According to the embodiment of the present invention, when the task heartbeat is recorded, the on-board equipment compares the period (P1) of the task with the period (P2) of the task transmitting the verification data to the fire control / verification monitoring system, If the period P1 is longer than the period P2, a bit corresponding to P2 / P1 is allocated. If the period P1 is longer than the period P1, can do.

According to an embodiment of the present invention, the fire control / verification monitoring system can determine whether or not the output data of the on-board equipment is normal based on the verification data and the response data received from the onboard equipment.

In accordance with an embodiment of the present invention, the verification data and whether the generation of the output data of the mounting equipment is normal can be visibly displayed in the fire control / verification monitoring system.

According to another aspect of the present invention, there is provided a task execution structure verification system for a mounting software, the system comprising: a flight control device incorporating flight control software including a plurality of task execution structures having unique functions; A mounting device simulation system for executing a flight locus simulation program in accordance with a flight control command of the flight control device to simulate an operation state of software mounted on the flight control device similar to an actual flight test; And outputting a guided vehicle emission signal to make the flight control device into a flight state, and receiving verification data based on the simulation data output from the onboard equipment simulation system from the flight control device to verify the characteristics of the software installed on the flight control device And the flight control device configures verification data of a task heart bit indicating the performance status of each task based on the simulation data.

According to an embodiment of the present invention, the flight trajectory simulation model is a 6-DOF (Degrees Of Freedom) flight trajectory simulation model including a flight control technique model, an inertial navigation model and an explorer model, The technique can be implemented by replacing the model with a flight control device.

According to an embodiment of the present invention, the task heartbeat may have a data type configuration of 16 bits or 32 bits.

According to the embodiment of the present invention, a bit value indicating the priority and execution of each task may be allocated to each bit of the task heartbeat.

According to the embodiment of the present invention, the priority of the task can be assigned in order from the rightmost or leftmost bit of the task heartbeat to the task having the highest priority.

According to an embodiment of the present invention, when the task heartbeat is recorded, the flight control device compares the period (P1) of the task with the period (P2) of the task transmitting the verification data to the shooting control / verification monitoring system, If the period P1 is equal to or longer than the period P1, the task heartbeat is assigned only one bit, and if the period P1 is earlier than the period P2, Can be assigned.

According to an embodiment of the present invention, the fire control / verification monitoring system can determine whether or not the output data of the on-board equipment is normal based on the verification data and the response data received from the onboard equipment.

In accordance with an embodiment of the present invention, the verification data and whether the generation of the output data of the mounting equipment is normal can be visibly displayed in the fire control / verification monitoring system.

According to the embodiment, the present invention can simulate the data dependency and the control dependency of the loading software generated in the actual flight test, so that the task execution structure of the loading software and the output data generation It is possible to increase the reliability of the flight control device and to reduce the time and cost required for problem solving in the event of a problem.

1 is a block diagram of a software verification system mounted on a flight control apparatus according to an embodiment of the present invention;
2 is a diagram illustrating control and data flow between each device and a system in the embedded software verification system of the flight control apparatus according to the embodiment of the present invention.
3 is a flowchart showing the operation of the embedded software verification system of the flight control apparatus according to the embodiment of the present invention.
4 is an illustration of a basic structure of a task according to an embodiment of the present invention;
5 illustrates an example of a method of assigning a task heartbeat (THB) according to the present invention.
FIG. 6 is a flow chart for determining whether the output data of the shooting control / verification monitoring system according to an embodiment of the present invention is normal; FIG.
FIG. 7 is an exemplary view showing a task execution state of a flight control apparatus according to an embodiment of the present invention; FIG.
FIG. 8 is a view for actually displaying a task performance state of a flight control apparatus according to an embodiment of the present invention. FIG.
9 is an illustration of a configuration file showing word information of verification data and task configuration information for each bit in a task heartbeat (THB) according to an embodiment of the present invention;

It is noted that the technical terms used herein are used only to describe specific embodiments and are not intended to limit the invention. The suffix " module " and " part " for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role.

And, the singular expressions used in the specification include plural expressions unless the context clearly indicates otherwise. In this specification, " comprises " Or " include. &Quot; Should not be construed to encompass the various components or steps described in the specification, and some of the components or portions may not be included, or may include additional components or steps And the like.

Further, in the description of the technology disclosed in this specification, a detailed description of related arts will be omitted if it is determined that the gist of the technology disclosed in this specification may be obscured.

In order to validate the task execution structure of the software with the flight control device, the operating condition of the software with the flight control device similar to the actual flight test must be simulated so that the data dependency and control dependency of the loading software necessary for verification can be constituted. To this end, the present invention utilizes a simulated flight technique to simulate the operation state of the software with the flight control device, simulating the actual flight test, and verify the mounted software.

The present invention does not perform a simulated flight test for a system test (system test) but performs simulated flight test for a single-piece mounted equipment (flight control device) test, Verifies the task execution status of the flight control device and further proposes a method for performing output data verification of the mounting software.

For example, in the verification system using the simulated flight according to the present invention, it is possible to verify the three characteristics (task execution state, task execution time, and task output data generation state) of the software with the flight control device.

1 is a block diagram of a software verification system mounted on a flight control apparatus according to an embodiment of the present invention.

1, the embedded software verification system of the flight control apparatus according to the present invention includes a flight control device 100, a communication interface 110, a mounted equipment simulation system 120, and a fire control / verification monitoring system 130 ).

The flight control device 100 may incorporate flight control software including a plurality of task execution structures having unique functions. The flight control software includes a set of tasks having priority and periodicity.

The communication interface 110 performs a function of connecting the apparatus and the system constituting the present invention to each other and transmitting data, commands, signals, and the like, and may be, for example, a communication bus. The communication bus may be any one of 1553B communication bus, USART, UDP, and TCP / IP.

The on-board device simulation system 120 can execute a flight trajectory simulation model (program) according to a flight control command of the flight control apparatus 100 to simulate data of the on-board equipment necessary for flight in real time. The flight trajectory simulation model may be a 6-DOF (Degrees Of Freedom) flight trajectory simulation model.

The 6-DOF flight trajectory simulation model includes a flight control technique, an inertial navigation, and an explorer model. The flight control technique model is replaced with a flight control device equipped with a flight control technique model, and the software models of the remaining onboard equipment are real-time performed to simulate flight data in real time.

The fire control / verification monitoring system 130 outputs sick utterance command data to make the flight control apparatus 100 in a flying state and transmits the mounted equipment simulation data 120 of the onboard equipment simulation system 120 through the flight control apparatus 100 As response data of a predetermined configuration, and performs the role of verifying the robustness of the task execution structure of the flight control device loading software and the accuracy of the input / output data.

The predetermined configuration may be a task heart bit (THB) configuration.

The task heartbeat (THB) is a bit of a data type of 16 bits or 32 bits, and each bit may be assigned a value indicating a priority and a performance state of each task.

Hereinafter, the operation of the embedded software verification system of the flight control apparatus according to the embodiment of the present invention will be described with reference to the accompanying drawings.

FIG. 2 shows a flow of data between a flight control device and a mounted equipment simulation system, and a data flow between the flight control device and a fire control simulation and verification monitoring system, and FIG. 3 is a flowchart showing the operation of the embedded software verification system of the flight control device.

2, first, the fire control / verification monitoring system 130 controls the communication interface 110 so that the flight control device 100, which is a single device, controls the on-board device simulation system 120 and the fire control / (S100). The fire control / verification monitoring system 130 then carries out a pre-launch procedure (S110) and sends a fire command signal (Liftoff signal) to the flight control device 100, 100) to the flying state (S120).

When the fire signal is outputted from the fire control / verification monitoring system 130, the flight control device 100 communicates with the in-vehicle device simulation system 120 through the communication interface 110 to perform an operation after launching the guide fire. That is, the flight control device 100 transmits the flight control command (induction command) data to the in-vehicle device simulation system 120, and the in-vehicle device simulation system 120 uses the predetermined flight path simulation model (program) Simulates the equipment in real time and outputs the simulated mounted equipment simulation data to the flight control device 100 (closed loop structure)

As described above, in order to verify the task execution structure of the software with the flight control device, it is necessary to simulate the operation status of the software with the flight control device similar to the actual flight test so that the data dependency and control dependency can do. Accordingly, the on-board device simulation system 120 can simulate the data of the on-board equipment necessary for flight using the 6-DOF flight trajectory simulation model in order to obtain the data dependency and control dependency necessary for verification of the onboard software. In the present invention, this is called GILS (Gcu In the Loop Simulation). The 6-DOF flight trajectory simulation model is a program that implements the functions of flight equipment in a software model. Each software model has a closed loop structure based on logical time and is periodically executed.

The GILS replaces only the flight control technique model with the hardware equipment (flight control device) equipped with the flight control technique model in the software models such as the flight control technique, inertial navigation, and explorer, which are the constituent models of the 6-DOF flight trajectory simulation model, The software models of the other onboard equipments are simulations that simulate flight data in real time. The GILS equipment uses a system capable of real-time operation, and further needs a communication channel for transmitting the calculated flight simulation data to the flight control device and receiving the guidance command output from the flight control device.

When the in-vehicle simulation data indicating the result of simulated operation of the flight control device loading software is received from the on-board device simulation system 120, the flight control device 100 is provided to the fire control / verification monitoring system 130 Constitute verification data.

The flight control device 100 carries real-time software for flight control, and the real-time software for flight control mounted on the vehicle is simulated in real time in the on-board device simulation system 120. The flight control device loading software consists of a set of tasks having priority and periodicity.

Accordingly, the flight control apparatus 100 uses a task heart bit (THB) indicating a task execution state in each bit of a predetermined size (16 bits or 32 bits) data type to indicate the task execution state And transmits the verification data to the fire control and verification monitoring system 130.

FIG. 4 shows a basic structure of a task according to an embodiment of the present invention, and FIG. 5 shows an example of a method of assigning a task heartbeat (THB) according to the present invention.

As shown in FIGS. 4 and 5, a task heartbeat (THB) and a task execution time are recorded in a task, and each bit of the task heartbeat (THB) Can be assigned. The priority of the task can be prioritized by assigning the task with the highest priority to the rightmost or leftmost bit of the task type bit (THB) of data type (16 bits or 32 bits) in order. Whether or not the task is performed may alternately store 0 or 1 in each bit for each execution.

When recording the task heartbeat (THB), consideration should be given to the period (P2) of the task transmitting the cycle (P1) of the task and the verification data (Task Heart Bit information) to the fire control / verification monitoring system 130. If the two periods P1 and P2 are the same or the period P2 is earlier, only one bit of Task Heart Bit is allocated. If the period of the period P1 is earlier, the bits of P2 / P1 are allocated. For example, if a task and a task to send a Task Heart Bit (data transmission task) have the same cycle of 10 ms, only one bit is allocated to the Task Heart Bit. On the other hand, if the cycle of one task is 5 ms and the cycle of the data transmission task is 10 ms, 2 bits are allocated to the Task Heart Bit. In this case, the task of 5 ms cycle writes 0 and 1 in each bit.

The flight control device 100 records the task execution time of the software installed with the flight control device by calculating the difference between the task start time and the end time using the auxiliary clock etc. The data transfer task records the execution of the shooting control and verification monitoring And transmits the configured verification data (Task Heart Bit information) to the system 130.

In addition, the state of the output data of the flight control device mounted software records the output data and the feedback data of the flight control device itself after output or the data received from the corresponding device, and the data transmission task responds to the corresponding data Along with the data.

The fire control / verification monitoring system 130 performs the function of monitoring the verification elements of the flight control device 100. That is, the fire control / verification monitoring system 130 informs the verification data received from the flight control device 100, that is, the task heart bit, to show the performance status of each task, and determines the best- , Present, and worst (worst = case) execution time.

In addition, the fire control / verification monitoring system 130 verifies whether the output data and response data of the flight control device 100 are generated, and verifies the reliability of the flight control device.

FIG. 6 is a flowchart for determining whether or not the output data of the shooting control / verification monitoring system according to the embodiment of the present invention is normal.

6, determining whether the output data of the flight control device 100 is normal or not in the fire control / verification monitoring system 130 may be determined by comparing the output data of the flight control device 100 with the feedback Or meaningful consistency between response data.

That is, the fire control / verification monitoring system 130 checks whether or not there is output data (S200). If there is the output data, the corresponding output data is read (S210) It is determined whether the output data is output data (S220). If the output data does not exist, the process waits for a predetermined time (S300) and then performs the step S200 again.

If it is determined in step S220 that the received output data is not the confirmed output data, it may be determined whether additional output data is generated in step S230. If it is determined in step S220 that the received output data is the confirmed output data, the fire control / verification monitoring system 130 determines whether the output response data output by the flight control device 100 exists (S240) If the output response data is present, it is checked whether the output response data is the confirmed output response after the corresponding output response data is read (S250, S260). If there is no output response data output by the flight control device 100, it is confirmed whether output response data is generated through step S270.

In the present invention, the output data (verification data) of the flight control device 100 and the reception of the output response data are separately described. However, the present invention is not limited to this, and the steps S200 and S240, S230, S270, And S260 may be integrated to perform a check on output data and output response data at a time.

The fire control / verification monitoring system 130 then checks whether both the output data (verification data) and the output response data have been generated (S280). If both are generated, the output control data / (S290). If all of them have not been generated yet and the scheduled time is exceeded, "abnormal" is not displayed or the result itself is not displayed (S290, S300). If the predetermined time has not been exceeded in the state where all of them are not generated, the first step S200 is executed after waiting for a predetermined time (S300, S310).

Therefore, the verification data, that is, whether the task heartbeat and the output data of the mounted equipment are normal or not, is visibly displayed in the fire control / verification monitoring system.

FIG. 7 is an exemplary view showing a task execution state in the fire control / verification monitoring system 130 by applying the mounting software checking method proposed in the present invention, and FIG. 8 is an exemplary embodiment showing a task execution state (THB) of a task having a cycle of 100, and shows whether the task is currently performing and whether or not the task is normal. 9 is an example of a configuration file indicating word information of verification data corresponding to the THB and task configuration information for each bit for the THB allocation method, as an example of general application of the method proposed in the present invention.

The present invention has been described by way of example of a flight control device for convenience of explanation, but is not limited thereto. For example, the flight trajectory simulation model includes a flight control technique model, an inertial navigation model, and an explorer model. Therefore, when using other in-flight equipments, such as an inertial navigation device or an explorer, Alternatively, you can simulate the corresponding piece of equipment using an explorer model. If these simulations are performed, the corresponding piece of equipment can also construct the task heartbeat using simulation data and transmit it as verification data to the fire control / verification monitoring system.

As described above, the present invention simulates the data dependency and the control dependency of the loading software generated in the actual flight test to confirm and verify the robustness of the task execution structure and the accuracy of the input / output data of the software loaded with the row control device, The task execution structure of the loading software and the preliminary verification of the occurrence of output data can be performed at the stage of single product testing before system delivery. Through this preliminary verification, the present invention can increase the reliability of the flight control device and reduce the time and cost required for problem solving when a problem occurs. In particular, the present invention is expected to be easily applicable to fields requiring verification of embedded systems.

In addition, the embedded software verification system and method of the flight control apparatus using the simulated flight according to the present invention can be applied not only to the embodiments described above but also to the embodiments described above without changing the technical ideas or essential features It will be understood that the invention may be embodied in other specific forms. Therefore, it should be understood that the above-described embodiments are to be considered in all respects as illustrative and not restrictive.

100: Flight control device 110: Communication interface device
120: Mounting equipment simulation system 130: Fire control / verification monitoring system

Claims (15)

A mounting apparatus having built-in software having a unique function and including a plurality of tasks having priority and periodicity;
A simulation system of a loading device simulating a software operation state of a loading device in real time by executing a flight trajectory simulation model according to a command of the loading device; And
And a fire control / verification monitoring system for operating the on-board equipment and receiving verification data based on the simulation data output from the on-board equipment simulation system from the on-board equipment in a predetermined cycle to verify the software characteristics of the onboard equipment and,
The mounting apparatus includes:
And the verification data of the task heart bit configuration indicating the execution state of each task based on the simulation data output from the on-board device simulation system is configured. The apparatus of claim 1,
A flight control device, an inertial navigation device, and a searcher. 2. The method according to claim 1, wherein the flight trajectory simulation model
DOF (Degrees Of Freedom) flight trajectory simulation model composed of flight control technique model, inertial navigation model and navigator model,
Wherein the onboard equipment simulation system replaces a corresponding one of a flight control technique model, an inertial navigation model, and an explorer model according to a type of onboard equipment. The method according to claim 1,
The task heartbeat
16-bit or 32-bit data type configuration. 5. The method of claim 4, wherein each bit of the task heartbeat
And a bit value indicating whether or not each task is prioritized and performed is assigned to the task execution structure verification system. 6. The method of claim 5, wherein the priority of the task is
Wherein the tasks having the highest priority are sequentially allocated from the rightmost or leftmost bit of the task heartbeat to the task execution structure verification system of the embedded software. 6. The apparatus of claim 5,
When writing the task heartbeat, compare the cycle (P1) of the task with the cycle (P2) of the task that sends the verification data to the fire control / verification monitoring system,
(a) if the periods P1 and P2 are the same or if the period P2 is earlier than the period P1, only one bit of the task heartbeat is allocated,
(b) if the period (P1) is earlier than the period (P2), a bit of P2 / P1 is allocated. The system of claim 1, wherein the fire control / verification monitoring system
And determining whether the generation of output data of the on-board equipment is normal based on the verification data and the response data received from the on-board equipment. A flight control device incorporating flight control software for flight comprising a plurality of task execution structures having unique functions;
A mounting device simulation system for executing a flight locus simulation program in accordance with a flight control command of the flight control device to simulate an operation state of software mounted on the flight control device similar to an actual flight test; And
Outputting a guided vehicle emission signal to make the flight control device into a flight state, receiving verification data based on simulation data output from the on-board device simulation system from the flight control device, and verifying characteristics of software installed on the flight control device A fire control / verification monitoring system,
Wherein the verification data comprises a task heart bit indicating a performance state of each task. 10. The method according to claim 9, wherein the flight trajectory simulation program further comprises:
6-DOF (Degrees Of Freedom) flight trajectory simulation model, which includes flight control technique model, inertial navigation model and navigator model,
The on-board device simulation system
Wherein the flight control technique model is replaced with a flight control device and executed. 10. The method of claim 9, wherein the task heartbeat
16-bit or 32-bit data type configuration. 10. The method of claim 9, wherein each bit of the task heartbeat
And a bit value indicating whether or not each task is prioritized and performed is assigned to the task execution structure verification system. 13. The method of claim 12, wherein the priority of the task is
Wherein the tasks having the highest priority are sequentially allocated from the rightmost or leftmost bit of the task heartbeat to the task execution structure verification system of the embedded software. 10. The air-conditioning system according to claim 9, wherein the flight control device
When writing the task heartbeat, compare the cycle (P1) of the task with the cycle (P2) of the task that sends the verification data to the fire control / verification monitoring system,
(a) if the periods P1 and P2 are the same or if the period P2 is earlier than the period P1, only one bit of the task heartbeat is allocated,
(b) if the period (P1) is earlier than the period (P2), a bit of P2 / P1 is allocated. 10. The system of claim 9, wherein the fire control /
And determining whether the generation of output data of the on-board equipment is normal based on the verification data and the response data received from the on-board equipment.

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