5G-based combined navigation off-site cooperative test system and test method

Abstract

The application provides a 5G-based combined navigation off-site cooperative test system and a test method. The combined navigation off-site cooperative test system is realized based on an off-site cooperative network. The combined navigation off-site cooperative test system comprises a flight data simulation unit, an attitude and position acquisition unit, a satellite navigation acquisition unit and a combined navigation test unit. The flight data simulation unit is used for outputting attitude information and speed data. The attitude and position acquisition unit is used for receiving the attitude information and performing semi-physical simulation and measurement on the attitude information. The satellite navigation acquisition unit is used for acquiring a flight track and converting the flight track into simulated satellite signals for measurement. The combined navigation test unit is used for performing combined navigation test on the measured attitude information, speed data and simulated satellite signals. The application provides a 5G-based combined navigation off-site cooperative test system and a test method. The application realizes combined navigation semi-physical test of a test end three-axis turntable single device and a remote end interconnection.

Description

[Technical Field]

[0001] This invention relates to the field of avionics testing technology, and in particular to a 5G-based integrated navigation remote collaborative testing system and testing method. [Background Technology]

[0002] Integrated navigation systems, leveraging the complementary advantages of inertial navigation systems (INS) and satellite navigation systems, have been widely adopted in civil aircraft. Performance testing of INS / GNSS integrated navigation systems has been extensively studied by relevant parties. Because integrated navigation testing involves the interconnection of multiple systems, semi-physical testing is a common method. Major manufacturers and component manufacturers such as Boeing, Honeywell, and Texas Instruments benefited from an early start, conducting flight tests of integrated navigation systems as early as the 1980s.

[0003] From the perspective of the aircraft's main manufacturer, airborne integrated navigation equipment must meet the four requirements of the International Civil Aviation Organization (ICAO): usability accuracy, integrity, continuity, and availability.

[0004] Semi-physical testing of integrated navigation systems has a broad academic research and engineering application background. Honeywell's invention patent, Dynamic Integrated Navigation Tester (US15153717), belongs to a semi-physical testing method, which simulates satellite signals through a satellite simulator; the inertial navigation system receives real attitude data. Shanghai Jiao Tong University's invention patent, Strapdown Inertial / Satellite Integrated Navigation Detection System and its Simulation Test Method (CN103308073B), also belongs to the semi-physical testing method, the difference being that it uses a turntable to semi-physically simulate three-axis attitude data. Due to the multi-system characteristics of integrated navigation, related tests require multiple devices such as attitude units and satellite units to be completed together; it is difficult to complete integrated navigation semi-physical simulation tests using a single device. In summary, semi-physical simulation tests of integrated navigation not only have significant engineering value but also present certain challenges.

[0005] Therefore, it is necessary to study a 5G-based integrated navigation remote collaborative test system and testing method to address the shortcomings of existing technologies and solve or mitigate one or more of the above-mentioned problems. [Summary of the Invention]

[0006] In view of this, the present invention provides a 5G-based remote collaborative test system and test method for integrated navigation, which realizes the interconnection between a single three-axis turntable at the test end and the remote end to complete the semi-physical test of integrated navigation.

[0007] On one hand, the present invention provides a 5G-based integrated navigation remote collaborative test system, which is implemented based on a remote collaborative network and includes:

[0008] The flight data simulation unit is used to output attitude information and velocity data;

[0009] The attitude acquisition unit is used for semi-physical simulation and attitude data acquisition of the attitude-controlled device under test.

[0010] The satellite navigation acquisition unit is used to acquire flight tracks and convert them into simulated satellite signals for navigation data acquisition of the device under test.

[0011] The integrated navigation test unit performs integrated navigation tests on the measured attitude information, velocity data, and simulated satellite signals.

[0012] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the flight data simulation unit includes an engineering cockpit, which transmits velocity data to the integrated navigation test unit via a remote collaborative network, sends attitude data to the attitude acquisition unit, and excites the attitude semi-physical simulation device.

[0013] In addition to the aspects described above and any possible implementations, a further implementation is provided in which the attitude data includes pitch angle data, roll angle data, and yaw angle data.

[0014] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the attitude acquisition unit includes an attitude semi-physical simulation device and an attitude device under test.

[0015] The attitude and attitude semi-physical simulation equipment performs semi-physical simulation of the aircraft attitude based on the received attitude information;

[0016] The attitude and attitude device under test is used to measure the semi-physical simulation results of the aircraft attitude and transmits the measured values ​​to the integrated navigation test unit via the aircraft interface in the form of a remote collaborative network.

[0017] In addition to the aspects and any possible implementations described above, an implementation is further provided in which the connector interface includes, but is not limited to, RS422 and RS232.

[0018] In addition to the aspects and any possible implementations described above, a further implementation is provided in which the satellite navigation acquisition unit includes a satellite navigation semi-physical simulation device and a test airborne satellite navigation receiver;

[0019] The satellite navigation semi-physical simulation equipment converts flight trajectory simulation into satellite signals and sends them to the airborne satellite navigation receiver under test.

[0020] The airborne satellite navigation receiver under test transmits the navigation information measurement values ​​to the integrated navigation test unit through a remote collaborative network.

[0021] In addition to the aspects described above and any possible implementations, an implementation is further provided in which the satellite signals include, but are not limited to, GPS, BDS, and GLONASS.

[0022] In addition to the aspects and any possible implementations described above, a further implementation is provided, wherein the remote collaborative test network includes an intranet mode and a private network mode, wherein;

[0023] The intranet mode includes network ports, Layer 2 switches, Layer 3 switches, routers, and 5G transceivers; the airborne satellite navigation receiver under test and the engineering cockpit are connected to the Layer 2 switch and connected to the Layer 3 switch through the 5G transceiver, and the airborne satellite navigation receiver under test, the engineering cockpit, and the integrated navigation test module are set to the same network segment, and the network segment is divided into the same VLAN within the Layer 3 switch;

[0024] The private network mode includes a Layer 2 switch, a Layer 3 switch, a 5G transceiver module, and a remote collaborative test cloud; the engineering cockpit and satellite receiver send relevant test data to the remote collaborative test cloud private network through the switch and the 5G transceiver module.

[0025] In addition to the aspects and any possible implementations described above, a further implementation is provided, wherein the relevant test data includes: longitude, latitude and altitude navigation information of the satellite receiver, relevant satellite ephemeris information, track data of the engineering cockpit, pitch angle, roll angle, yaw angle, airspeed, ground speed and Mach number.

[0026] In accordance with the aspects and any possible implementations described above, a 5G-based method for inter-regional collaborative testing of integrated navigation is further provided, including the aforementioned inter-regional collaborative testing system for integrated navigation, the method comprising the following steps:

[0027] S1: Start the equipment. The satellite navigation semi-physical simulation equipment sends static position information. The engineering cockpit sends the aircraft's static position information. The satellite navigation acquisition unit, attitude acquisition unit, and integrated navigation test unit receive the information correctly. Confirm that the test network is connected correctly.

[0028] 2) According to the preset flight mission, the engineering cockpit will conduct manned flight in the loop. Through the test network, the engineering cockpit will transmit the pitch angle, roll angle and yaw angle to the attitude acquisition unit, and the speed data to the integrated navigation test unit.

[0029] 3) The satellite navigation acquisition unit simulates multi-constellation GNSS signals, and the satellite navigation receiver under test transmits the satellite navigation signals to the integrated navigation module through a remote collaborative test network;

[0030] 4) The flight data of the cockpit in the air is used to excite the motion of the attitude and attitude semi-physical simulation equipment, and the data of the attitude and attitude equipment under test is collected by the timer-integrated navigation test unit;

[0031] 5) The integrated navigation module can select either loose or tight combination mode, change the preset parameters of the Kalman filter, and display integrated navigation information and current error in real time.

[0032] Compared with the prior art, the present invention can achieve the following technical effects:

[0033] Compared to existing technologies that require multiple testing devices to work together in the same area, this invention adopts a 5G-based remote collaboration method to achieve data interconnection between remote engineering cockpits, turntables, or satellite simulators and other testing devices. When connected to the test network, the test end only needs a single set of equipment or can use all remote testing equipment to complete the combined navigation test.

[0034] Of course, any product implementing this invention does not necessarily need to achieve all of the technical effects described above at the same time. [Attached Image Description]

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a diagram of a combined navigation remote collaborative test system provided in one embodiment of the present invention;

[0037] Figure 2 This is a diagram of the experimental network intranet mode provided in one embodiment of the present invention;

[0038] Figure 3 This is a diagram of a test private network mode provided in one embodiment of the present invention;

[0039] Figure 4 This is a diagram of a method for conducting collaborative testing of integrated navigation systems in different locations, provided in one embodiment of the present invention.

[0040] Figure 5 This is a test result diagram of an embodiment of the combined navigation remote collaborative test system provided by an embodiment of the present invention.

Detailed Implementation Methods

[0041] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0042] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0043] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0044] This invention provides a 5G-based integrated navigation remote collaborative test system and test method.

[0045] like Figure 1 As shown, the integrated navigation remote collaborative test system includes a satellite navigation acquisition unit, an attitude acquisition unit, a flight data simulation unit, an integrated navigation test unit, and a remote collaborative test network.

[0046] In one specific embodiment, the flight data simulation unit includes an engineering cockpit, which transmits speed data to the integrated navigation test unit through a remote collaborative test network, and sends pitch angle, roll angle, and yaw angle data to the attitude acquisition unit to stimulate the attitude semi-physical simulation equipment.

[0047] In one specific embodiment, the attitude acquisition unit includes an attitude semi-physical simulation device and an attitude device under test. The attitude semi-physical simulation device receives aircraft attitude signals sent by the flight data simulation unit, performs semi-physical simulation of the aircraft attitude based on the attitude information, and the attitude device under test measures the semi-physical simulation information of the aircraft attitude and transmits the measured values ​​to the combined test module via a remote collaborative network in 5G format through an interface including but not limited to RS422, RS232, etc.

[0048] In one specific embodiment, the satellite navigation acquisition unit includes a satellite navigation semi-physical simulation device and an airborne satellite navigation receiver under test. The satellite navigation semi-physical simulation device uses the flight track as input and transmits simulated satellite signals, including but not limited to GPS, BDS, GLONASS, and other multi-constellation signals, to the airborne satellite navigation receiver under test via radio frequency cables. The airborne satellite navigation receiver under test transmits the navigation information measurements to the integrated navigation test unit via a remote collaborative test network in 5G format.

[0049] In one specific embodiment, the integrated navigation test unit includes 5G-based integrated navigation initial calibration, loose integration test mode, and tight integration test mode.

[0050] like Figure 2 As shown, in one specific embodiment, the remote collaborative test network includes two modes: intranet and private network. The equipment includes: network ports, Layer 2 switches, Layer 3 switches, routers, and 5G transceiver modules. In the intranet transmission mode, the satellite navigation receiver under test and the engineering cockpit are connected to the switch, and transmitted through the test network to the Layer 3 switch of the remote collaborative test network. The satellite navigation receiver, engineering cockpit, and integrated navigation test module are configured on the same network segment, and this network segment is assigned to the same VLAN within the test network switch.

[0051] like Figure 3 As shown, in one specific embodiment, the private network mode includes: a Layer 2 switch, a Layer 3 switch, and a 5G transceiver module. The engineering cockpit and satellite receiver transmit relevant test data, including: longitude, latitude, and altitude navigation information from the satellite receiver; relevant satellite ephemeris information; and flight data from the engineering cockpit, such as track data, pitch angle, roll angle, yaw angle, airspeed, ground speed, and Mach number. The three-axis turntable and integrated navigation unit are responsible for receiving remote test data, including: the integrated navigation unit receiving longitude, latitude, and altitude navigation information from the satellite receiver; relevant satellite ephemeris information; and flight data from the engineering cockpit, such as track data, airspeed, ground speed, and Mach number. The three-axis turntable receives pitch angle, roll angle, and yaw angle from the engineering cockpit.

[0052] The testing mechanism for the integrated navigation system's remote collaborative testing in this invention is as follows:

[0053] The test mechanism for the integrated navigation remote collaboration experiment includes 5G-based integrated navigation initial calibration and remote collaborative network time synchronization unit.

[0054] Among them, the initial calibration of the 5G-based integrated navigation is characterized by the fact that this mode is a non-self-alignment method, in which the initial position information of the multi-mode satellite navigation receiver is transmitted to the integrated navigation module through a remote collaborative test network during the fine alignment stage.

[0055] The time synchronization unit includes a timer that is remotely triggered by 5G satellite navigation signal transmission events at 1-second intervals, and is calibrated using subsequent remotely transmitted position information. The inertial navigation test unit samples data according to the timer and transmits the data to the integrated navigation module.

[0056] like Figure 4As shown, the present invention also provides a 5G-based integrated navigation remote collaborative test system and test method, wherein the integrated navigation remote collaborative test method includes the following steps:

[0057] 1) The relevant equipment is started, the satellite navigation semi-physical simulation equipment sends static position information, the engineering cockpit sends aircraft static position information, the satellite navigation acquisition unit, attitude acquisition unit and integrated navigation test unit receive the information correctly, and the test network is confirmed to be connected correctly.

[0058] 2) The engineering cockpit is used for manned flight according to the preset flight mission. Through the test network, the engineering cockpit transmits pitch angle, roll angle and yaw angle to the attitude acquisition unit, and speed data to the integrated navigation test unit.

[0059] 3) The satellite navigation acquisition unit simulates multi-constellation GNSS signals, and the satellite navigation receiver under test transmits the satellite navigation signals to the integrated navigation module through a remote collaborative test network.

[0060] 4) The flight data of the human-in-the-loop in the engineering cockpit is used to stimulate the motion of the attitude and attitude semi-physical simulation equipment, and the data of the attitude and attitude equipment under test is collected by the timer-integrated navigation test unit.

[0061] 5) The integrated navigation module can select loose or tight combination mode, change the preset parameters of Kalman filter, and display integrated navigation information and current error in real time.

[0062] Among them, the test methods for integrated navigation remote collaborative flight test include a test method for comparing remote collaborative flight data and an integrated navigation remote collaborative flight test display system.

[0063] Among them, the method of comparing data from remote collaborative flights involves the integrated navigation test unit combining attitude information with satellite navigation position information through the selected integrated navigation mode to obtain the aircraft's longitude, latitude, altitude, pitch angle, roll angle, yaw angle, and aircraft velocity and velocity modulus in the three directions of northeast and south in the northeast-southeast coordinate system. The test results are then compared with flight data from the engineering cockpit and satellite navigation semi-physical simulation equipment to calculate the stabilization time, position error, altitude error, velocity error, and attitude error of the integrated navigation system.

[0064] The integrated navigation module includes a data display system, which displays the aircraft's flight path, longitude, latitude, altitude, pitch angle, roll angle, yaw angle, aircraft speed and speed modulus in the three directions of northeast and sky in the northeast-sky coordinate system on the host computer interface, as well as the navigation system stabilization time, position error, altitude error, speed error, and attitude error.

[0065] Example 1:

[0066] like Figure 1As shown, this embodiment adopts a remote collaborative intranet transmission mode. The test equipment includes a three-axis turntable with three-axis attitude motion semi-physical simulation; a satellite signal simulator that can simulate GPS, BDS, and GLONASS satellite signals; an engineering cockpit that can simulate and output pitch angle, roll angle, yaw angle, speed, and altitude flight information; a three-axis turntable with inner, middle, and outer rings that can realize semi-physical simulation of pitch angle, roll angle, and yaw angle; and the test network includes network communication between the engineering cockpit and the three-axis turntable, and between the satellite receiver and the integrated navigation module.

[0067] 1) The relevant equipment is started, the satellite navigation simulator sends static information to confirm that the test network is connected correctly.

[0068] 2) Conduct human-in-the-loop testing of the engineering cockpit according to the preset flight mission. Through the test network, the engineering cockpit transmits pitch angle, roll angle and yaw angle to the three-axis turntable, and speed data to the integrated navigation module.

[0069] 3) The satellite simulator simulates multi-constellation GNSS signals, and the multi-mode satellite navigation receiver transmits the satellite navigation signals to the integrated navigation module through the test network.

[0070] 4) The three-axis turntable is excited by the flight data of the human in the engineering cockpit, and the inertial navigation test unit data is collected according to the timer combined navigation module.

[0071] 5) The integrated navigation module can select loose or tight combination mode, change the preset parameters of Kalman filter, and display integrated navigation information and current error in real time.

[0072] The test results are as follows Figure 5 As shown, from Figure 5 During the test, the test terminal received three types of test data from the engineering cockpit, satellite navigation, and inertial navigation through the test network. The attitude measurement error of the inertial navigation equipment was corrected by a loosely coupled combined navigation method, and the error between the result and the preset attitude data of the engineering cockpit tended to be stable.

[0073] The foregoing has provided a detailed description of a 5G-based integrated navigation remote collaborative test system and testing method provided in the embodiments of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application; furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

[0074] Certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different names to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in function. The terms "comprising" and "including" used throughout the specification and claims are open-ended and should be interpreted as "comprising / including but not limited to". "Approximately" means that within an acceptable margin of error, those skilled in the art can solve the technical problem and substantially achieve the technical effect within a certain margin of error. The following descriptions in the specification are preferred embodiments for carrying out this application; however, these descriptions are for the purpose of illustrating the general principles of this application and are not intended to limit the scope of this application. The scope of protection of this application shall be determined by the appended claims.

[0075] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a product or system comprising a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a product or system. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the product or system that includes said element.

[0076] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0077] The foregoing description illustrates and describes several preferred embodiments of this application. However, as previously stated, it should be understood that this application is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the application concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of this application should be within the protection scope of the appended claims.

Claims

1. A 5G-based integrated navigation remote collaborative test system, characterized in that, The integrated navigation remote collaborative test system is implemented based on a remote collaborative network, and the integrated navigation remote collaborative test system includes: The flight data simulation unit is used to output attitude information and velocity data. The flight data simulation unit includes an engineering cockpit, which transmits velocity data to the integrated navigation test unit and sends attitude data to the attitude acquisition unit through a remote collaborative network to stimulate the attitude semi-physical simulation equipment. The attitude acquisition unit is used for semi-physical simulation and attitude data acquisition of the attitude device under test; the attitude acquisition unit includes an attitude semi-physical simulation device and the attitude device under test; the attitude semi-physical simulation device performs semi-physical simulation of the aircraft attitude based on the received attitude information; the attitude device under test is used to measure the semi-physical simulation results of the aircraft attitude and transmit the measured values ​​to the integrated navigation test unit through the flight interface in the form of a remote collaborative network. The satellite navigation acquisition unit is used to acquire flight tracks and convert them into simulated satellite signals for navigation data acquisition of the device under test. The integrated navigation test unit performs integrated navigation tests on the measured attitude information, velocity data, and simulated satellite signals. The remote collaborative test network includes an intranet mode and a private network mode. The intranet mode includes network ports, Layer 2 switches, Layer 3 switches, routers, and 5G transceiver devices; the private network mode includes Layer 2 switches, Layer 3 switches, 5G transceiver modules, and a remote collaborative test cloud.

2. A 5G-based method for inter-regional collaborative testing of integrated navigation, comprising the inter-regional collaborative testing system of claim 1, characterized in that, The method for cross-regional collaborative testing of integrated navigation Includes the following steps: S1: Start the equipment. The satellite navigation semi-physical simulation equipment sends static position information. The engineering cockpit sends the aircraft's static position information. The satellite navigation acquisition unit, attitude acquisition unit, and integrated navigation test unit receive the information correctly. Confirm that the test network is connected correctly. 2) According to the preset flight mission, the engineering cockpit will conduct manned flight in the loop. Through the test network, the engineering cockpit will transmit the pitch angle, roll angle and yaw angle to the attitude acquisition unit, and the speed data to the integrated navigation test unit. 3) The satellite navigation acquisition unit simulates multi-constellation GNSS signals, and the satellite navigation receiver under test transmits the satellite navigation signals to the integrated navigation module through a remote collaborative test network; 4) The flight data of the cockpit in the engineering cockpit is used to excite the motion of the attitude and attitude semi-physical simulation equipment, and the data of the attitude and attitude equipment under test is collected by the timer-integrated navigation test unit; 5) The integrated navigation module can select either loose or tight combination mode, change the preset parameters of the Kalman filter, and display integrated navigation information and current error in real time.

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