Patrol aircraft flight simulation verification method and system based on digital model

Abstract

The invention discloses a patrol aircraft flight simulation verification method and system based on a digital model, and belongs to the technical field of aircraft flight simulation. The system comprises a launch control device digital model, a scene simulation digital model, a seeker model, an autopilot model, an aerodynamic model, a steering engine model, a simulation solution model and an inertial navigation model, and digitizes the environment, a target, a seeker, a steering engine, inertial navigation, a power device, an autopilot and other modules in the flight process of the cruising aircraft. The operation hardware platform of each module is virtualized, on the premise that the original system communication mode is not changed, guidance and control of the flight process of the cruising aircraft and evaluation of performance such as miss distance can be completed, and the influence of various environment changes and structure changes on the flight of the cruising aircraft can be quickly verified through flight simulation of the cruising aircraft.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft flight simulation, and in particular to a flight simulation verification method and system for a cruising aircraft based on a digital model. Background Art

[0002] The performance of a cruising aircraft is determined by the interaction of all its subsystems. The components of each subsystem must ensure their normal operation, and all subsystems that make up the entire cruising aircraft must be balanced and adjusted to the best performance. Any slight change in any component will cause the system to lose balance and lead to unacceptable results. The biggest problem is how designers and evaluators analyze and evaluate the performance and flight trajectory of a cruising aircraft. The most reliable method is flight testing, but it must wait until the hardware design is completed and flight testing is available, which is costly and expensive. How to perform low-cost verification and performance testing of the performance of a cruising aircraft in the early design stage is also a challenge faced by designers. Therefore, a flight simulation verification method and system for a cruising aircraft based on a digital model is urgently needed. Summary of the invention

[0003] In order to solve the problems in the prior art, the present invention provides a flight simulation verification method and system for a cruising aircraft based on a digital model.

[0004] On the one hand, a flight simulation verification system for a cruising aircraft based on a digital model is provided, the system comprising:

[0005] The digital model of the launch and control device communicates with the autopilot and is used for generating control instructions for the cruise aircraft, receiving and displaying status data, displaying image information, and triggering the autopilot to identify, capture, and track targets, as well as triggering the autopilot to release the security command, launch the command, and release the launch command;

[0006] The scenario simulation digital model is used to present a scenario that is no different from the actual flight for flight simulation;

[0007] A seeker model, used to test the recognition capability of the seeker according to the scenario simulation of the scenario simulation digital model, and to provide state feedback and output guidance parameters;

[0008] The autopilot model is used to receive the guidance parameters output by the seeker model and output the steering control amount;

[0009] A steering gear model, used for receiving the steering control quantity and outputting a feedback torque;

[0010] an aerodynamic model for calculating the aerodynamic forces and moments acting on the cruiseable aircraft based on the control surface deflection angles;

[0011] A simulation solution model is used to calculate and output the three-axis acceleration and three-axis angular velocity of the cruising aircraft during its flight according to aerodynamic force and torque, thrust and torque, gravity, and feedback torque of the servo model;

[0012] The inertial navigation model is used to receive three-axis acceleration and three-axis angular velocity, and output attitude data to the scene simulation digital model and the autopilot model. The autopilot model performs attitude control according to the attitude data, and the scene simulation digital model calculates the behavior of the cruising aircraft under different environmental conditions according to the attitude data.

[0013] Furthermore, the scene simulation of the scene simulation digital model mainly includes a target, a background and an interference device;

[0014] The targets include: optoelectronic feature type and radio frequency feature type. The optoelectronic feature type is a visible light or infrared image of the flight process generated by a vision system. The vision supports the placement of stationary targets and moving targets.

[0015] The radio frequency feature class is echo signal data generated based on the strength of the target radio frequency and relative parameters of the seeker.

[0016] Further, the system also includes: a simulation evaluation model for calculating cycle and performance evaluation;

[0017] The calculation cycle is a calculation work that enters the next processing task after completing a processing task. In the flight simulation of the cruise aircraft, each task is performed in the form of calculation or logic processing to simulate the actual flight working process or the interaction with the environment. In digital simulation, the processing process includes multiple discrete time steps, and the size of the step size meets the requirements for accurate simulation of the highest frequency components in the system. In a given step size, each task must be processed to obtain the changes that occur during this time, and then enter the next time increment and repeat the processing flow;

[0018] The performance evaluation is based on the state data generated by each model in the flight simulation process to complete the miss distance calculation.

[0019] Further, the seeker model is seeker software resident in a real seeker hardware operating environment;

[0020] The servo model is servo software residing in a real servo hardware operating environment;

[0021] The autopilot model is autopilot software resident in a real autopilot hardware operating environment;

[0022] The inertial navigation model is an inertial navigation software that actually resides in a real inertial navigation hardware operating environment;

[0023] The aerodynamic model is a digital model established according to the physical properties of the power device.

[0024] Furthermore, the system also includes a hardware operating environment simulation, which is used to realize the simulation of the hardware operating environment of each module of the cruising aircraft, including an operating system adaptation layer, a virtual bus simulation, and a virtual device simulation.

[0025] Furthermore, the operating system types supported by the operating system adaptation layer include: STM32, Tianmai series operating system, VxWorks series operating system, Kylin operating system, and Zhongbiao Kylin operating system;

[0026] The virtual bus simulation completes the simulation of various types of buses, so that each model can run on the simulation platform. The bus types include: FC bus, 1394 bus, Arinc429 bus, RS232 / RS422 serial bus, and 1553 bus;

[0027] The virtual device simulation supports the virtualization simulation of the hardware access interface required by the digitized model. The virtual devices mainly include: PCI device interface, NVRAM and SDRAM storage device interface, SPI device interface, PCI-E device interface, SATA device interface, and SATA device interface.

[0028] Furthermore, the system performs data exchange via a distributed communication bus.

[0029] On the other hand, a flight simulation verification method for a cruising aircraft based on a digital model is provided, which is applied to the flight simulation verification system for a cruising aircraft based on a digital model, and the method comprises:

[0030] Initialize the simulation platform and load configuration files and data;

[0031] The autopilot generates a control instruction to the seeker model, the seeker model tests the recognition capability of the seeker according to the scene simulation of the scene simulation digital model, and feeds back the state to the autopilot, the autopilot feeds back the state to the launch and control device digital model, the launch and control device digital model generates a control instruction to the autopilot, and the autopilot determines whether the cruise aircraft is launched according to the control instruction generated by the launch and control device digital model;

[0032] If the launch is carried out, the flight control is entered, the autopilot model receives the guidance parameters output by the seeker model, and outputs the rudder control quantity to the steering gear model, the steering gear model receives the rudder control quantity, and outputs the feedback torque to the aerodynamic model and the simulation solution model, and the aerodynamic model calculates the aerodynamic force and torque acting on the cruising aircraft according to the deflection angle of the control surface;

[0033] The simulation solution model can calculate and output the three-axis acceleration and three-axis angular velocity of the cruising aircraft during its flight according to the aerodynamic force and torque, thrust and torque, gravity, and the feedback torque of the servo model;

[0034] The inertial navigation model receives three-axis acceleration and three-axis angular velocity, and outputs attitude data to the scene simulation digital model and the autopilot model, the autopilot model performs attitude control according to the attitude data, and the scene simulation digital model calculates the behavior of the cruising aircraft under different environmental conditions according to the attitude data;

[0035] Through the simulation of the above steps, the impact of various environmental changes on the flight of the cruising aircraft can be quickly verified.

[0036] The beneficial effect brought about by the technical solution provided by the embodiment of the present invention is: the flight simulation verification system for a cruise aircraft based on a digital model digitizes the environment, target, seeker, servo, inertial navigation, power unit, autopilot and other modules during the flight of the cruise aircraft, virtualizes the operating hardware platform of each module, and completes the evaluation of the guidance and control, miss amount and other performance of the cruise aircraft during the flight without changing the original system communication method. Through the flight simulation of the cruise aircraft, the influence of various environmental changes and structural changes on the flight of the cruise aircraft can be quickly verified.

[0037] Through the flight simulation verification of the cruise aircraft based on the digital model, the problems in the design and testing phases of the cruise aircraft can be optimized at low cost and high efficiency, greatly improving the optimization efficiency of the cruise aircraft design and the iterative upgrade of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 It is an overall framework diagram of a flight simulation verification system for a cruising aircraft based on a digital model provided by the present invention;

[0040] Figure 2 It is a simulation principle diagram of the hardware operation environment of the flight simulation verification system of the cruising aircraft based on the digital model provided by the present invention;

[0041] Figure 3 It is a processing flow chart of the launch and control phase of the flight simulation verification method of the cruising aircraft based on the digital model provided by the present invention;

[0042] Figure 4 The present invention provides a digital model-based flight simulation verification method for a cruising aircraft in the form of a processing flow chart of the flight phase. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0045] Embodiment 1

[0046] See also Figure 1 and Figure 2 A flight simulation verification system for a cruising aircraft based on a digital model includes a digital model of the cruising aircraft, a digital model of a launch and control device, a digital model of simulation solution and evaluation, and a digital model of scene simulation, which together constitute a simulation operation platform; the digital model of the cruising aircraft includes a seeker model, an autopilot model, a servo model, an aerodynamic model and an inertial navigation model, and the digital model of simulation solution and evaluation includes a simulation solution model and a simulation evaluation model.

[0047] The seeker model is the seeker software residing in the real seeker hardware operating environment, the servo model is the servo software residing in the real servo hardware operating environment, the autopilot model is the autopilot software residing in the real autopilot hardware operating environment, the inertial navigation model is the inertial navigation software residing in the real inertial navigation hardware operating environment, and the aerodynamic model is a digital model established according to the physical properties of the power unit.

[0048] The digital model of the launch and control device communicates with the autopilot and is used for the control command generation of the cruising aircraft, status data reception and display, image information display and triggering of the autopilot to identify, capture and track the target, as well as triggering the autopilot release command, launch command and release of the launch command.

[0049] The scene simulation digital model presents a scene that is no different from the actual flight for flight simulation. The main purpose of scene simulation is to test the recognition capability of the seeker and provide scene simulation for optical and radio frequency sensors. The scene simulation mainly includes targets, backgrounds and jammers.

[0050] The targets mainly include: optoelectronic characteristic targets and radio frequency characteristic signals. The optoelectronic characteristic targets mainly generate visible light or infrared images of the flight process based on the vision system, and the vision supports the placement of static targets and moving targets. The radio frequency characteristic signals mainly generate echo signal data based on the strength of the target radio frequency and the relative parameters of the seeker.

[0051] The seeker model is used to test the recognition ability of the seeker according to the scenario simulation of the scenario simulation digital model, and to perform state feedback and output guidance parameters; the autopilot model is used to receive the guidance parameters output by the seeker model and output the rudder control quantity; the servo model is used to receive the rudder control quantity and output the feedback torque; the aerodynamic model is used to calculate the aerodynamic force and torque acting on the cruising aircraft according to the deflection angle of the control surface, and the aerodynamic force and torque are calculated to the angle of attack parameters, and the lift generated by the angle of attack changes the flight trajectory of the cruising aircraft; the simulation solution model is used to calculate and output the three-axis acceleration and three-axis angular velocity of the cruising aircraft during the flight process according to the aerodynamic force and torque, thrust and torque, gravity, and feedback torque of the servo model; the inertial navigation model is used to receive the three-axis acceleration and three-axis angular velocity, and output attitude data to the scenario simulation digital model and the autopilot model, the autopilot model performs attitude control according to the attitude data, and the scenario simulation digital model calculates the behavior of the cruising aircraft under different environmental conditions according to the attitude data.

[0052] The simulation evaluation model is used for calculation cycle and performance evaluation; the calculation cycle refers to the calculation work entering the next processing task after completing one processing task. In the flight simulation of the cruise aircraft, each task is performed in the form of calculation or logic processing to simulate the actual flight work process or the interaction with the environment. In digital simulation, the processing process includes multiple discrete time steps, and the size of the step meets the accurate simulation requirements of the highest frequency components in the system. In a given step, each task must be processed to obtain the changes that occur within this time, and then enter the next time increment and repeat the processing process; the performance evaluation is based on the state data generated by each model in the flight simulation process to complete the miss distance calculation.

[0053] The system also includes hardware operating environment simulation, which is used to realize the simulation of the hardware operating environment of each module of the cruising aircraft, including operating system adaptation layer, virtual bus simulation, and virtual device simulation. The operating system adaptation layer supports various types of operating systems, including: STM32, Tianmai series operating system, VxWorks series operating system, Kylin operating system, Zhongbiao Kylin operating system, etc.; virtual bus simulation completes the simulation of various types of buses, so that various digital models can run on the simulation platform. Bus types include: FC bus, 1394 bus, Arinc429 bus, RS232 / RS422 serial bus, 1553 bus and other bus types; virtual device simulation supports the virtualization simulation of various hardware access interfaces required by digitized models. Virtual devices mainly include: PCI device interface, NVRAM and SDRAM storage device interface, SPI device interface, PCI-E device interface, SATA device interface, SATA device interface.

[0054] In addition, the system exchanges data through a distributed communication bus. The hardware operating environment receives the bus data of each model through a virtual bus. After receiving the data, it converts various buses into distributed communication bus data. The distributed data bus completes the data interaction between various models through a publish-subscribe mechanism.

[0055] It is worth mentioning that the flight simulation verification system for the cruise aircraft based on the digital model digitizes the environment, target, seeker, servo, inertial navigation, power unit, autopilot and other modules during the flight of the cruise aircraft, virtualizes the operating hardware platform of each module, and completes the interaction of various models through the distributed data bus without changing the original system communication method, and completes the guidance and control of the cruise aircraft during the flight, the miss amount and other performance evaluation. Through the flight simulation of the cruise aircraft, the influence of various environmental changes and structural changes on the flight of the cruise aircraft can be quickly verified.

[0056] The flight simulation verification of the cruising aircraft using a digital model can optimize the problems in the design and testing phases of the cruising aircraft at a low cost and high efficiency, greatly improving the optimization efficiency of the cruising aircraft design and the iterative upgrade of the product.

[0057] Embodiment 2

[0058] See also Figure 3 and Figure 4 A flight simulation verification method for a cruising aircraft based on a digital model is applied to the flight simulation verification system for a cruising aircraft based on a digital model in the first embodiment. The method comprises the following steps:

[0059] Initialize the simulation platform and load configuration files and data;

[0060] The autopilot generates a control instruction to the seeker model, the seeker model tests the recognition capability of the seeker according to the scene simulation of the scene simulation digital model, and feeds back the state to the autopilot, the autopilot feeds back the state to the launch control device digital model, the launch control device digital model generates a control instruction to the autopilot, and the autopilot determines whether the cruise aircraft should be launched according to the control instruction generated by the launch control device digital model;

[0061] If the launch is carried out, the flight control is entered, the autopilot model receives the guidance parameters output by the seeker model, and outputs the rudder control quantity to the steering gear model, the steering gear model receives the rudder control quantity, and outputs the feedback torque to the aerodynamic model and the simulation solution model, and the aerodynamic model calculates the aerodynamic force and torque acting on the cruising aircraft according to the deflection angle of the control surface;

[0062] The simulation solution model calculates and outputs the three-axis acceleration and three-axis angular velocity of the cruising aircraft during flight according to the aerodynamic force and torque, thrust and torque, gravity, and feedback torque of the servo model;

[0063] The inertial navigation model receives three-axis acceleration and three-axis angular velocity, and outputs attitude data to the scene simulation digital model and the autopilot model. The autopilot model performs attitude control according to the attitude data, and the scene simulation digital model calculates the behavior of the cruising aircraft under different environmental conditions according to the attitude data.

[0064] Through the simulation of the above steps, the impact of various environmental changes on the flight of the cruising aircraft can be quickly verified.

[0065] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A flight simulation verification system for a cruising aircraft based on a digital model, characterized in that: The system comprises: The digital model of the launch and control device communicates with the autopilot and is used for generating control instructions for the cruise aircraft, receiving and displaying status data, displaying image information, and triggering the autopilot to identify, capture, and track targets, as well as triggering the autopilot to release the security command, launch the command, and release the launch command; The scenario simulation digital model is used to present a scenario that is no different from the actual flight for flight simulation; A seeker model, used to test the recognition capability of the seeker according to the scenario simulation of the scenario simulation digital model, and to provide state feedback and output guidance parameters; The autopilot model is used to receive the guidance parameters output by the seeker model and output the steering control amount; A steering gear model, used for receiving the steering control quantity and outputting a feedback torque; an aerodynamic model for calculating the aerodynamic forces and moments acting on the cruiseable aircraft based on the control surface deflection angles; A simulation solution model is used to calculate and output the three-axis acceleration and three-axis angular velocity of the cruising aircraft during its flight according to aerodynamic force and torque, thrust and torque, gravity, and feedback torque of the servo model; The inertial navigation model is used to receive three-axis acceleration and three-axis angular velocity, and output attitude data to the scene simulation digital model and the autopilot model. The autopilot model performs attitude control according to the attitude data, and the scene simulation digital model calculates the behavior of the cruising aircraft under different environmental conditions according to the attitude data.

2. The flight simulation verification system for a cruising aircraft based on a digital model according to claim 1, characterized in that: The scene simulation of the scene simulation digital model mainly includes a target, a background and an interference device; The targets include: optoelectronic feature type and radio frequency feature type. The optoelectronic feature type is a visible light or infrared image of the flight process generated by a vision system. The vision supports the placement of stationary targets and moving targets. The radio frequency feature class is echo signal data generated based on the strength of the target radio frequency and relative parameters of the seeker.

3. The flight simulation verification system for a cruising aircraft based on a digital model according to claim 2, characterized in that: The system also includes: a simulation evaluation model for calculating cycle and performance evaluation; The calculation cycle is a calculation work that enters the next processing task after completing a processing task. In the flight simulation of the cruise aircraft, each task is performed in the form of calculation or logic processing to simulate the actual flight working process or the interaction with the environment. In digital simulation, the processing process includes multiple discrete time steps, and the size of the step size meets the requirements for accurate simulation of the highest frequency components in the system. In a given step size, each task must be processed to obtain the changes that occur during this time, and then enter the next time increment and repeat the processing flow; The performance evaluation is based on the state data generated by each model in the flight simulation process to complete the miss distance calculation.

4. The flight simulation verification system for a cruising aircraft based on a digital model according to claim 3 is characterized in that: The seeker model is seeker software residing in a real seeker hardware operating environment; The servo model is servo software residing in a real servo hardware operating environment; The autopilot model is autopilot software resident in a real autopilot hardware operating environment; The inertial navigation model is an inertial navigation software that actually resides in a real inertial navigation hardware operating environment; The aerodynamic model is a digital model established according to the physical properties of the power device.

5. The flight simulation verification system for a cruising aircraft based on a digital model according to claim 4, characterized in that: The system also includes a hardware operating environment simulation, which is used to realize the simulation of the hardware operating environment of each module of the cruising aircraft, including an operating system adaptation layer, a virtual bus simulation, and a virtual device simulation.

6. The flight simulation verification system for a cruising aircraft based on a digital model according to claim 5, characterized in that: The operating system types supported by the operating system adaptation layer include: STM32, Tianmai series operating system, VxWorks series operating system, Kylin operating system, and Zhongbiao Kylin operating system; The virtual bus simulation completes the simulation of various types of buses, so that each model can run on the simulation platform. The bus types include: FC bus, 1394 bus, Arinc429 bus, RS232 / RS422 serial bus, and 1553 bus; The virtual device simulation supports the virtualization simulation of the hardware access interface required by the digitized model. The virtual devices mainly include: PCI device interface, NVRAM and SDRAM storage device interface, SPI device interface, PCI-E device interface, SATA device interface, and SATA device interface.

7. The flight simulation verification system for a cruising aircraft based on a digital model according to claim 6, characterized in that: The system performs data exchange via a distributed communication bus.

8. A flight simulation verification method for a cruising aircraft based on a digital model, characterized in that: Applied to the flight simulation verification system for a cruising aircraft based on a digital model as described in any one of claims 1 to 7, the method comprises: Initialize the simulation platform and load configuration files and data; The autopilot generates a control instruction to the seeker model, the seeker model tests the recognition capability of the seeker according to the scene simulation of the scene simulation digital model, and feeds back the state to the autopilot, the autopilot feeds back the state to the launch and control device digital model, the launch and control device digital model generates a control instruction to the autopilot, and the autopilot determines whether the cruise aircraft is launched according to the control instruction generated by the launch and control device digital model; If the launch is carried out, the flight control is entered, the autopilot model receives the guidance parameters output by the seeker model, and outputs the rudder control quantity to the steering gear model, the steering gear model receives the rudder control quantity, and outputs the feedback torque to the aerodynamic model and the simulation solution model, and the aerodynamic model calculates the aerodynamic force and torque acting on the cruising aircraft according to the deflection angle of the control surface; The simulation solution model can calculate and output the three-axis acceleration and three-axis angular velocity of the cruising aircraft during its flight according to the aerodynamic force and torque, thrust and torque, gravity, and the feedback torque of the servo model; The inertial navigation model receives three-axis acceleration and three-axis angular velocity, and outputs attitude data to the scene simulation digital model and the autopilot model, the autopilot model performs attitude control according to the attitude data, and the scene simulation digital model calculates the behavior of the cruising aircraft under different environmental conditions according to the attitude data; Through the simulation of the above steps, the impact of various environmental changes on the flight of the cruising aircraft can be quickly verified.

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