Comprehensive debugging method of UAV flight control system

Abstract

The present invention proposes a comprehensive debugging method for a UAV flight management system, which belongs to the technical field of comprehensive debugging of integrated detection, related function verification and troubleshooting of UAV flight management systems. The present invention uses scientific and reasonable overall planning to support the main line of the entire debugging method with three systems or methods, optimize the debugging process and method; and adopts three types of equipment to support the entire debugging method, which can not only ensure the accuracy of the detection result data, but also greatly improve work efficiency. The present invention makes the debugging of the flight management system form an integral whole, and the debugging technology of each part forms a closed-loop effect. Through the three progressive system structures, the debugging and troubleshooting function requirements of the flight management system are realized, forming a set of efficient debugging technology. The present invention uses a high degree of automation in the debugging process of the flight management system, which is beneficial to aircraft debugging, and through the function of data transmission, it can directly feedback the measured values ​​to the simulation model calibration system, greatly saving working time.

Description

Technical Field

[0001] The present invention belongs to the technical field of comprehensive debugging of integrated detection, relevant function verification and troubleshooting of unmanned aerial vehicle flight management systems, and relates to a comprehensive debugging method for unmanned aerial vehicle flight management systems. Background Art

[0002] Today, drone technology is developing rapidly and the number is increasing exponentially, but in the military and civilian fields, the number of drones and the proportion of actual applications are still too small. This leads to the lack of mature systematic and automated debugging technology for new drones, which is a blank area.

[0003] The flight management and control system ("flight management system") is an important component system of UAVs. It is used to control the take-off, aerial flight and landing functions of UAVs. Its system structure is complex and highly interconnected with other aircraft systems. It is an important system related to the flight safety and reliability of UAVs.

[0004] In view of the above reasons, the present invention proposes an integrated debugging method for a UAV flight management system, which is used to meet the needs of systematic and automated debugging and testing of the UAV flight management system under the background of the ever-increasing number of UAVs, realize integrated testing, relevant function verification and troubleshooting, and achieve the goal of completing the comprehensive debugging of the UAV flight management system with high efficiency and high precision. Summary of the invention

[0005] The purpose of the present invention is to provide a comprehensive debugging method for a UAV flight management system, which can automate and visualize the entire process of debugging and detecting the functions of the entire aircraft flight management system, and greatly improve the debugging efficiency of the UAV through the coordinated implementation of new equipment and innovative process methods.

[0006] The present invention implements the comprehensive debugging of the flight control system from two aspects: system method and equipment device, as follows:

[0007] (1) System Methods

[0008] Through the construction of the fixed-station debugging system for the entire UAV, a technical foundation is laid for the comprehensive debugging of the flight control system and debugging conditions are provided; the flight control system simulation model calibration method is used to establish the theoretical model of the flight control system, and the aircraft status reflected by the ground simulation flight test is simulated and calibrated to obtain the calibration results, thereby judging the working status of the flight control system. If a servo fault is found during the debugging process, the servo fault troubleshooting system of the flight control system is used to analyze and troubleshoot the fault to ensure the normal operation of the flight control system.

[0009] (2) Equipment and devices

[0010] Different equipment and devices are required for comprehensive debugging of the flight management system. The pneumatic system comprehensive debugging equipment is used to check and fill the gas volume of the pneumatic system of the whole aircraft, so as to ensure the normal operation of the pneumatic system. The position status detection device of the plane parts and the deflection angle measurement device of the long rod parts are used to check the angle and position of the movable parts of the whole aircraft, such as the rudder and the cabin door. Through the reserved interface for data transmission, all the inspection data are fed back to the fixed-station debugging system of the whole aircraft, and the automatic judgment is carried out in combination with the calibration method of the simulation model of the flight management system to realize the comprehensive debugging of the flight management system.

[0011] Beneficial effects of the present invention:

[0012] (1) The present invention is a comprehensive debugging method for the UAV flight control system. Through scientific and reasonable overall planning, three systems or methods are used to support the main line of the entire debugging method, and the debugging process and method are optimized; three other devices are used to support the entire debugging method, which can not only ensure the accuracy of the detection result data, but also greatly improve work efficiency.

[0013] (2) The application of system methods makes the debugging of the flight control system an integrated whole, and the debugging technologies of each part form a closed-loop effect. Through three progressive system structures, the debugging and troubleshooting functional requirements of the flight control system are realized, forming a set of efficient debugging technologies.

[0014] (3) The application of equipment and devices makes the flight control system debugging process highly automated. Compared with traditional measuring equipment, it has the characteristics of high efficiency and high precision, which is more conducive to aircraft debugging. In addition, through the data transmission function, there is no need for manual reading and recording, and the measured values ​​can be directly fed back to the simulation model calibration system, which greatly saves working time.

[0015] (4) The present invention innovatively adopts the information transmission between the system and the equipment, and can combine multiple technologies to improve the integrity of the entire debugging method, open up ideas for subsequent innovative technical research, and lay a technical foundation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a schematic diagram of the system composition of the method described in the present invention.

[0017] Figure 2 This is a schematic diagram of the fixed-station debugging system for the UAV.

[0018] Figure 3 This is a schematic diagram of the UAV flight control system servo fault troubleshooting system.

[0019] Figure 4 This is a schematic diagram of the external structure of the comprehensive debugging equipment for the UAV pneumatic system.

[0020] Figure 5 This is a schematic diagram of the internal structure of the comprehensive debugging equipment for the UAV pneumatic system.

[0021] Figure 6 Schematic diagram of the UAV cabin door position status detection form.

[0022] Figure 7 This is a schematic diagram of the UAV rudder position status detection form.

[0023] Figure 8 A is a structural schematic diagram of a deflection angle measuring device for long-pole parts of a UAV.

[0024] Fig. 9 B is a structural schematic diagram of the deflection angle measurement device for long rod parts of unmanned aerial vehicles.

[0025] Fig.10 This is a schematic diagram of clamping long rod parts.

[0026] In the figure: 1 central processing computer; 2 information receiving device; 3 information display device; 4 intranet output device; 5 interactive control device; 6 information output device; 2-1 receiving antenna; 2-2 information transmission component; 3-1 signal analysis component; 3-2 display screen A; 4-1 data integration device; 4-2 internal network interface; 6-1 signal analysis device; 6-2 file output device; 7 power knob switch; 8 charging port; 9 nitrogen interface; 10 driving gas source interface; 11 display screen B; 12 safety exhaust knob; 13 system warning light; 14 equipment housing; 15 universal wheel; 16 gas filter; 17 driving gas source Bottle; 18 Electrical box assembly; 19 Nitrogen bottle; 20 Tightening handle; 21 Fixed bracket A; 22 Pressing sleeve A; 23 Digital inclinometer A; 24 Pressing rod; 25 Fixed base; 26 Suction cup rocker arm; 27 Rubber suction cup; 28 Data transmission reserved interface A; 29 Suction cup handle; 30 Thickened rubber suction cup; 31 Connecting bracket; 32 Pressing air pump; 33 Deflation pad; 34 Short splint; 35 Long splint; 36 Fixed bracket B; 37 Digital inclinometer B; 38 Bracket bolt; 39 Splint bolt; 40 Protective felt pad; 41 Pressing sleeve B; 42 Rotating bolt; 43 Data transmission reserved interface B; 44 Long rod parts. DETAILED DESCRIPTION

[0027] The specific implementation of the present invention is further explained below in conjunction with the examples and drawings, but is not intended to limit the present invention.

[0028] like Figure 1 As shown, a comprehensive debugging method for a UAV flight management system includes the following steps:

[0029] S1: Use the UAV fixed station debugging system to debug the entire system

[0030] The flight control system is an important component of the UAV. Its debugging needs to be based on the debugging of the whole aircraft system. Therefore, the UAV fixed-station debugging system is used to debug the whole aircraft system.

[0031] The fixed-station debugging system for unmanned aerial vehicles comprises a central processing computer 1, an information receiving device 2, an information display device 3, an intranet output device 4, an interactive control device 5 and an information output device 6.

[0032] The central processing computer 1 has a total of five channels, the first channel is connected to the information receiving device 2 for communication, the second channel is connected to the information display device 3, the third channel is connected to the intranet output device 4, the fourth channel is connected to the interactive control device 5, and the fifth channel is connected to the information output device 6. The above connection methods all use the network cable information input / output method for connection.

[0033] The information receiving device 2 is connected to the drone for communication, and includes a receiving antenna 2-1 and an information transmission component 2-2. The receiving antenna 2-1 receives various external information sent by the drone, analyzes and processes the information, and packages it into corresponding data packets, and then the information transmission component 2-2 sends the data packets to the central processing computer 1.

[0034] The information display device 3 includes a signal analysis component 3-1 and a display screen A3-2, which is used to receive the electrical signal output by the central processing computer 1, classify and process the electrical signal through the signal analysis component 3-1, receive data packets and decode the data packets into image signals in HDMI format and image signals in AV format, and display the corresponding image on the display screen A3-2.

[0035] The intranet output device 4 includes a data integration device 4-1 and an internal network interface 4-2; the data integration device 4-1 integrates the various data transmitted by the central processing computer 1 into a data packet, and then transmits it into the internal network via the internal network interface 4-2 via a network cable.

[0036] The interactive control device 5 is used to wirelessly connect the central processing computer 1 to the drone, receive interactive operation instructions for the image, and control the drone according to the interactive operation instructions.

[0037] The information output device 6 includes a signal analysis device 6-1 and a file output device 6-2; the signal analysis device 6-1 converts the data output by the central processing computer 1 into digital signals and text signals, which are then printed out by the file output device 6-2 for analysis by the debugging personnel.

[0038] From the composition of the above-mentioned fixed-station debugging system for unmanned aerial vehicles, it can be seen that the central processing computer 1 has 5 channels for receiving or sending information respectively. The information is actually an analog signal value, which is transmitted through the sensors between the central processing computer 1 and the other devices. The specific judgment is based on the attribute parameters of each sensor itself and the actual current. The specific formula is as follows:

[0039] W q =K g (I q R g +V g )

[0040] Among them, W q Indicates the analog signal value; K g is the fixed coefficient of the sensor, usually (1, 10); I q is the actual current value; R g is the sensor resistance value; V g It is the sensor correction voltage value.

[0041] After the information is transmitted to the central processing computer 1, the total amount of data transmitted by the five channels collected by the central processing computer 1 is as follows:

[0042] X=X1+X2+X3+X4+X5

[0043] Among them, X is the total amount of data of the central processing computer, and X1 to X5 are the data amounts of the five channels respectively.

[0044] Taking the first channel as an example, its data volume depends on the data volume of its single line and the total number of lines. The model is:

[0045]

[0046] Among them, X1 is the data volume of the first channel; is the data volume of a single line of the first channel, i.e., the information receiving device; n is the total number of lines of the first channel.

[0047]

[0048] Among them, K a Fixing parameter coefficients for the information receiving device; is the data volume of a single line of the first channel at time t, Is the analog signal value The accumulation model is as follows:

[0049]

[0050] Combining the above derived model formula, the corresponding model formula of the first channel data volume, actual current volume, and sensor can be obtained:

[0051]

[0052] Therefore, the total amount of data transmitted by the five channels collected by the central processing computer 1 can be processed as follows:

[0053]

[0054] Among them, n, m, o, p, and q represent the total number of lines in channels 1 to 5 respectively.

[0055] The central processing computer 1 will receive information sent by the five channels of the system at the same time. In this case, it is particularly important for the central processing computer 1 to determine and analyze the source of the received information. If the analysis and determination cannot be accurate, it will lead to poor information transmission and the inability to implement instructions. Therefore, a determination model is set in the central processing computer 1. The single line data volume corresponding to different devices is determined in different numerical ranges. The central processing computer 1 determines the source of the data channel based on the collected single line data volume. The model is as follows:

[0056] Channel 1: The range is (0,2);

[0057] Channel 2: The range is (3,10);

[0058] Channel 3: The range is (11,50);

[0059] Channel 4: The range is (51,150);

[0060] Channel 5: The range is (151,300).

[0061] The debugging steps are as follows:

[0062] S1.1: Before debugging the flight control system, the UAV needs to be placed in the system environment of the above-mentioned UAV fixed station debugging system, and the UAV needs to be placed in the fixed debugging station through the aircraft suspension, and the entire aircraft needs to be adjusted to a horizontal level through the jack.

[0063] S1.2: Start the UAV and the UAV fixed station debugging system, and connect the two to ensure the connection between the information receiving device 2, the interactive control device 5 and the UAV.

[0064] S1.3: Output various operation instructions to the UAV manually or through a pre-set automatic debugging program through the interactive control device 5 to control the operation of the UAV flight management system.

[0065] S1.4: The operator can observe in real time through the display screen A3-2 the status of each system and various parameter information of the aircraft fed back to the central processing computer 1 through the information receiving device 2 of the UAV, monitor the overall situation of the aircraft, and determine whether the various indicators of the aircraft are abnormal and whether there are any problems with the aircraft status.

[0066] S1.5: When the debugging data needs to be transmitted to the internal network, the internal network output device 4 is connected to the internal network computer using a network cable to realize data transmission.

[0067] S1.6: If the experimental data needs to be output in paper or CD format, it can be achieved through the information output device 6.

[0068] S1.7: After the system debugging is completed, disconnect the debugging system from the drone, turn off the drone and the debugging system, and hoist the drone to the ground through the aircraft suspension.

[0069] S2: Calibrate the UAV flight control system simulation model using the UAV flight control system simulation model calibration method

[0070] After the aircraft meets the debugging conditions, the operator needs to determine whether the working status of the flight control system meets the design requirements. To this end, the UAV flight control system simulation model calibration method is used to calibrate the flight control system simulation model. The specific process is as follows:

[0071] S2.1: Input control commands to the UAV flight control system, conduct flight test simulation on the ground, and identify the flight status of the UAV during the flight status change process.

[0072] S2.2: Use three-dimensional imaging scanning technology to obtain the test flight data of the UAV in each flight state, determine the target sub-model corresponding to each flight state in the preset flight control system simulation model, and call the simulation data of the target sub-model.

[0073] S2.3: According to the test flight data and simulation data, adjust the simulation parameters of the target sub-model. The specific process is as follows:

[0074] S2.3.1: Determine the flight state sequence of the UAV during the flight state change process. The flight state sequence is ground taxiing state, take-off state, ascending and descending stable flight state and landing state;

[0075] S2.3.2: According to the flight state sequence, and in combination with the test flight data and simulation data, adjust the simulation parameters of the target sub-model corresponding to each flight state. The specific process is as follows:

[0076] For ground taxiing:

[0077] 1) According to the actual movement and position status of the landing gear, the ground calibration deviation of the UAV is obtained by comparing it with the simulation data of the landing system sub-model;

[0078] 2) Adjust the simulation parameters of the landing system sub-model according to the ground calibration deviation.

[0079] For takeoff status:

[0080] 1) According to the feedback value of the inner elevon servo of the UAV and the actual deflection angle, the lateral calibration deviation of the UAV is obtained by comparing with the simulation data of the inner elevon sub-model;

[0081] 2) According to the lateral calibration deviation, adjust the simulation parameters of the inner elevator sub-model.

[0082] For stable flight:

[0083] 1) According to the feedback value of the outer drag rudder and the actual deflection angle, the longitudinal and heading calibration deviations of the UAV are obtained by comparing them with the simulation data of the outer drag rudder sub-model;

[0084] 2) According to the longitudinal and heading calibration deviations, adjust the simulation parameters of the outer drag rudder sub-model.

[0085] For landing status:

[0086] 1) Based on the arresting system position signal and the actual lowering angle, the landing calibration deviation of the UAV is obtained by comparing it with the simulation data of the arresting system submodel;

[0087] 2) Adjust the simulation parameters of the arresting system submodel according to the landing calibration deviation.

[0088] S2.4: According to the adjusted target sub-model, a calibration flight control system simulation model is obtained.

[0089] S2.5: Comparative analysis of flight control system simulation models is performed. The specific process is as follows:

[0090] 1) Set the UAV theoretical model as

[0091] S α ={(x, y, z)}

[0092] Among them, x is the horizontal coordinate; y is the vertical coordinate; z=h(x, y), which represents the height.

[0093] 2) Set the actual model of the imaging scan to

[0094] S′ α ={(x′, y′, z′)}

[0095] Among them, x' is the horizontal coordinate; y' is the vertical coordinate; z'=h(x', y'), indicating the height.

[0096] 3) Any detection point in space is represented by a six-degree-of-freedom vector:

[0097] S(t)=[S x (t)S y (t)S z (t)S γ (t)S β (t)S θ (t)]

[0098] Among them, S x (t), S y (t), S z (t) is the position coordinate of the detection point at time t; S γ (t), S β (t), S θ (t) is the inclination angle relative to the spatial coordinate axis at time t.

[0099] 4) The motion trajectory is the integral over time [0, t], and the rate function per second is f sa [S(t), x, y, z], then the motion trajectory of the UAV theoretical model is

[0100] f sa =∫0 t f sa (S(t),x,y,z)dt

[0101] 5) Similarly, the actual model motion trajectory of the imaging scan is

[0102]

[0103] 6) The degree of non-coincidence between the actual motion trajectory and the theoretical motion trajectory f V is the difference between the two models, so

[0104] f V =f sa -f′ sa =∫0 T f sa (s(t),x,y,z)dt-∫0 T f sa (S(t)′,x′,y′,z′)dt

[0105] 7) According to different moving parts, different allowable ranges are set. The flight control system automatically determines whether the simulation meets the requirements within the allowable tolerance range. If the calculated misalignment f VIf the given range is not met, the system will report that the component is abnormal. V Satisfies the range of (-10,10).

[0106] By adopting the above-mentioned UAV flight control system simulation model calibration method, the test flight data under different flight conditions are compared with the simulation data of the preset flight control system simulation model, so that the flight control system simulation model is continuously made close to the real aircraft. When the flight control system simulation model is closer to the real aircraft, relevant flight tests can be simulated and carried out on the ground, thereby improving the efficiency of the UAV ground flight test and ensuring the flight safety of the UAV.

[0107] S3: Use the UAV flight control system servo fault troubleshooting system to troubleshoot the flight control system servo fault

[0108] After calibrating the UAV flight control system simulation model, if a servo fault is found, in order to quickly and efficiently locate and troubleshoot the fault, the UAV flight control system servo fault troubleshooting system is used to troubleshoot the flight control system servo fault.

[0109] The UAV flight control system servo fault troubleshooting system mainly connects the controller between the flight control computer and the servo, and the controller includes a main control module and a standby control module arranged in parallel, and a main drive module connected to the main control module and a standby drive module connected to the standby control module; the main drive module and the standby drive module are both connected to the servo to provide driving electrical signals for the servo.

[0110] The main control module is composed of a main digital signal processor and a main complex programmable logic device. The main digital signal processor receives the bus signal (redundancy signal voltage value) of the flight control computer, and sends the motor PWM control signal and direction signal obtained by PID operation of the redundancy signal voltage value to the main complex programmable logic device for logic operation through the redundancy management module; the main complex programmable logic device realizes processing functions such as three-phase bridge control signal output, Hall acquisition, and fault signal feedback to the main digital signal processor.

[0111] The main drive module includes a main isolation circuit, a main drive circuit and a main inverter circuit which are connected in sequence; wherein the main isolation circuit receives the three-phase bridge control signal processed by the main control module, performs isolation protection, enhances circuit safety, transmits the three-phase bridge control signal that meets the preset parameter requirements to the main drive circuit, drives the entire circuit to work, and outputs a high voltage to the main inverter circuit; the main inverter circuit reverses the high voltage signal and changes it into a current signal that can drive the stator of the servo main motor to work and can be detected by the main current sensor; the main current sensor then feeds back the current signal to the main digital signal processor.

[0112] The standby control module is composed of a standby digital signal processor and a standby complex programmable logic device, and the standby drive module includes a standby isolation circuit, a standby drive circuit and a standby inverter circuit connected in sequence; the composition and working principle of the standby control module and the standby drive module are completely consistent with the main channel (main control module and main drive module), and can be fully interchangeable.

[0113] The steering gear is internally provided with a main motor stator, a motor rotor, a spare motor stator, a reducer and a steering gear output shaft; wherein the main and spare motor stators cooperate with the motor rotor to form motor movement, and then the movement speed of the motor rotor is controlled within the controllable range of the steering gear output shaft through the reducer, and finally transmitted to the steering gear output shaft movement, thereby driving the actual aircraft rudder surface deflection.

[0114] The servo is connected with a main rotor position detection module, a standby rotor position detection module, a main angle detection module and a standby angle detection module. The main rotor position detection module and the standby rotor position detection module both use Hall sensors; the main rotor position detection module and the standby rotor position detection module are respectively connected to the main motor stator and the standby motor stator of the servo, and are used to monitor the rotor position, and according to the actual position of the rotor, the rotor position signal is generated in real time and the signal is fed back to the main and standby complex programmable logic devices. The main angle detection module and the standby angle detection module are both connected to the output shaft of the servo, and are used to monitor the actual output position of the servo, and feed the position information back to the main and standby digital signal processors in real time.

[0115] During the self-test of the flight control system or the debugging and inspection of the servo, the controller can provide the servo with backup drive instructions, allowing the servo to continue working in the event of a fault, complete the inspection work, and then conduct unified troubleshooting work, greatly improving work efficiency.

[0116] During the debugging and inspection process, the following fault location method is used to determine a single point fault:

[0117]

[0118] Among them, α is the decision parameter; U L is the measured voltage amplitude of the servo; U K is the rated voltage amplitude of the servo; r L is the measured resistance value of the servo; R K is the rated resistance value of the servo; X C is the total capacitive reactance of the servo; k is set according to the servo model and ranges from 1 to 3.

[0119] The principle of this fault location method is to systematically measure the measured voltage amplitude and the measured resistance value of this single point of the servo, and calculate α with the help of the theoretical parameters of this single point of the servo (rated voltage amplitude, rated resistance value, total capacitive reactance of the servo). The digital signal processor compares the calculation result with the pre-calculated value range to determine whether there is a fault in the single point.

[0120] When monitoring and testing the system, the standby digital signal processor + standby complex programmable logic device monitors the operating status of the main digital signal processor + main complex programmable logic device in real time and communicates with the circuit of the main control module in real time, including monitoring the system clock, control signal reception, main control cycle execution, complex programmable logic device operating status, etc. When the circuit of the main control module determines that any of the above functions fails, the circuit of the standby control module immediately takes over the circuit function of the main control module and reports the fault to the flight control computer for use in troubleshooting.

[0121] S4: Use the drone pneumatic system comprehensive debugging equipment to check and fill the pneumatic system gas

[0122] The pneumatic system is a subsystem of the flight control system and plays an important role in UAVs. It can realize emergency lowering of arresting hooks, emergency lowering of landing gear, emergency release of oil receiving probes, emergency braking, providing power source for the hydraulic system, and providing buffer for the front and main landing gears. Before or during the debugging of the flight control system, the UAV pneumatic system comprehensive debugging equipment is used to monitor and adjust the pneumatic system inflation volume.

[0123] The comprehensive debugging equipment for the pneumatic system of the unmanned aerial vehicle includes a power knob switch 7, a charging port 8, a nitrogen interface 9, a driving gas source interface 10, a display screen B11, a safety exhaust knob 12, a system warning light 13, an equipment housing 14, a universal wheel 15, a gas filter 16, a driving gas source bottle 17, an electrical box assembly 18 and a nitrogen bottle 19.

[0124] The device housing 14 is a box structure for protecting the components in the device, and a universal wheel 15 is installed at the bottom thereof for supporting and transporting the device.

[0125] The gas filter 16, the driving gas source bottle 17, the electrical box assembly 18 and the nitrogen bottle 19 are arranged inside the equipment housing 14. Among them, the driving gas source bottle 17 is used to store air, and it is connected to the nitrogen bottle 19 through a driving pump; the nitrogen bottle 19 is used to store nitrogen, and is connected to the drone through a hose to inflate the drone; a gas filter 16 is provided on the gas path connected to the nitrogen bottle 19, which is used to filter the gas in the gas path to prevent pollution. A control component and a battery are arranged in the electrical box assembly 18, wherein the control component is used in conjunction with the operation interface in the display screen B11, and the execution program is pre-set through the PLC according to the requirements to control the operation of various electrical functions of the equipment, such as setting the corresponding execution program according to different models and different inflation inspection requirements, and the operator can select according to the model and part when operating, without manually entering various parameters, and automatically executes the pre-set gas volume for filling or inspection after selection; the battery is used to store electrical energy.

[0126] The power knob switch 7, charging port 8, nitrogen interface 9, driving gas source interface 10, display screen B11, safety exhaust knob 12, and system warning light 13 are arranged on the outside of the device housing 14. Among them, the power knob switch 7 is connected to the control component in the electrical box assembly 18 through a cable to connect and disconnect the device. The charging port 8 is connected to the battery in the electrical box assembly 18 through a cable to store electrical energy for the battery during maintenance. The nitrogen interface 9 and the driving gas source interface 10 are respectively connected to the nitrogen bottle 19 and the driving gas source bottle 17 through gas pipelines to replenish gas to the nitrogen bottle and the driving gas source bottle during maintenance; the connecting pipelines between the nitrogen interface 9 and the nitrogen bottle 19 and the connecting pipelines between the driving gas source interface 10 and the driving gas source bottle 17 are both provided with air pressure sensors for real-time detection of gas pressure and transmission of the gas pressure value to the control component. The display screen B11 is connected to the control component in the electrical box assembly 18 through a cable to display various information of the device and control the device. The safety exhaust knob 12 is used in conjunction with the system warning light 13, wherein the safety exhaust knob 12 is connected to the connecting gas path of the nitrogen cylinder 19, and the system warning light 13 is connected to the control component in the electrical box component 18; the control component controls the system warning light 13 to work according to the air pressure value fed back by the air pressure sensor. At this time, the system pressure is released by rotating the safety exhaust knob 12 to ensure the safety of the equipment.

[0127] The specific usage steps are as follows:

[0128] S4.1: Check the debugging equipment and connection status before use:

[0129] S4.2: Connect the commissioning equipment to the onboard inflation valve via a hose;

[0130] S4.3: Turn on the power switch;

[0131] S4.4: Click on the display screen B11 to enter the test interface;

[0132] S4.5: Click the “Nitrogen Bottle Switch” and “Gas Source Drive Switch” in the test interface to pass the gas into the corresponding pipelines of the debugging equipment through the nitrogen interface 9 and the drive gas source interface 10 respectively.

[0133] S4.6: Select the model and inflation position in the test interface according to actual needs, and then perform driving gas pressurization;

[0134] S4.7: The system pressure regulating valve works normally to gradually increase the pressure. Once the set pressure value is reached, the system automatically stops pressurizing.

[0135] S4.8: At this time, the air pressure value in the pipeline can be detected by the air pressure sensor and displayed on the display screen. When the design requirements are met, the inflation is started by operating the display screen, and the high-pressure gas generated in the test bench will enter the air path system of the ship-borne UAV;

[0136] S4.9: After the inflation is completed, stop the inflation through the operating display screen, disconnect the equipment gas circuit from the onboard gas circuit, deflate through the operating display screen, discharge the high-pressure gas at the equipment outlet, until the pressure value displayed on the display screen is zero, remove the hose from the onboard gas circuit system, power off the equipment, and the inflation is completed;

[0137] S4.10: After the equipment is used, the maintenance personnel will open the equipment and check the power and gas remaining pressure. If it is insufficient, the maintenance team needs to charge and refill the equipment so that the operator can use it again.

[0138] S5: Use the drone plane parts position status detection device to check the position status of the drone plane parts

[0139] The rudder structure of some UAVs is novel in design. Unlike traditional rudders, they cannot be clamped, so a UAV plane parts position status detection device is used for debugging.

[0140] The device for detecting the position state of the plane parts of the unmanned aerial vehicle comprises a tightening handle 20, a fixing bracket A21, a pressing sleeve A22, a digital display inclinometer A23 and a suction cup assembly device.

[0141] The suction cup assembly is used to be attached to planar parts; the fixed bracket A21 is the main carrier of the digital inclinometer A23, which is fixed on the suction cup assembly. The tail of the tightening handle 20 is screwed into the top plate of the fixed bracket A21 and connected to the clamping sleeve A22. By adjusting the tightening handle 20, the clamping sleeve A22 is pressed tightly against the digital inclinometer A23, so that the digital inclinometer A23 is fixed in the fixed bracket A21. The digital inclinometer A23 is provided with a data transmission reserved interface A28 for connecting a signal transmission cable.

[0142] For the door position inspection, the suction cup assembly device includes a clamping rod 24, a fixed base 25, a suction cup rocker arm 26 and a rubber suction cup 27. Among them, there are three rubber suction cups 27, which are used to be adsorbed on the door surface, and the control of the rubber suction cup adsorption or detachment state is achieved through the clamping rod 24 arranged thereon; specifically, when the clamping rod 24 is placed vertically on the rubber suction cup 27, the internal gas of the rubber suction cup 27 is squeezed out, so that the air pressure is lower than the atmospheric pressure, and the rubber suction cup 27 is adsorbed on the door; when the clamping rod 24 is placed horizontally on the rubber suction cup 27, the internal air pressure of the rubber suction cup 27 is equal to the atmospheric pressure, and the rubber suction cup 27 is detached from the door. Suction cup rocker arms 26 are provided on the three rubber suction cups 27, and the angles of the suction cup rocker arms 26 can be adjusted according to the shape of the door surface. The fixed base 25 is connected to the suction cup rocker arm 26 by bolts, and is used to be connected to the fixed bracket A21.

[0143] For the inspection of the position of the rudder surface, the suction cup assembly device includes a suction cup handle 29, a thickened rubber suction cup 30, a connecting bracket 31, a pressing air pump 32 and an air release pad 33. Among them, the thickened rubber suction cup 30 is connected to the fixed bracket A21, and is mainly responsible for adsorbing on the rudder surface to be tested; the suction cup handle 29 is fixed on the thickened rubber suction cup 30 through the connecting bracket 31, and the pressing air pump 32 is installed inside the suction cup handle 29. The pressing air pump 32 is connected to the inside of the thickened rubber suction cup 30, and the reciprocating pressing of the pressing air pump 32 makes it possible to remove air between the thickened rubber suction cup 30 and the rudder surface to be tested, and the thickened rubber suction cup 30 is tightly adsorbed on the rudder surface by atmospheric pressure; when the air release pad 33 set on the thickened rubber suction cup 30 is turned over, air enters between the thickened rubber suction cup 30 and the rudder surface to be tested, and the thickened rubber suction cup 30 is separated from the rudder surface to be tested.

[0144] According to different plane types, such as curved surface (door) and flat surface (rudder surface), select different types of suction cup combination devices, adsorb them to the plane, firmly install the digital inclinometer, reset the value of the digital inclinometer, perform plane position detection, and feed back all inspection data to the fixed-station debugging system of the whole aircraft through the reserved interface A28 for data transmission. Combined with the calibration method of the simulation model of the flight management system, automatic judgment is performed to realize the comprehensive debugging of the flight management system.

[0145] S6: Use the deflection angle measuring device for drone long pole parts to check the deflection angle of drone long pole parts

[0146] The long pole parts of some UAVs play an important role in the take-off, landing and flight safety of the UAVs. The deflection angle measuring device of the long pole parts of UAVs is used to measure the deflection angle efficiently and time-savingly.

[0147] The deflection angle measuring device for the long rod parts of the unmanned aerial vehicle comprises a short clamping plate 34, a long clamping plate 35, a fixing bracket B36, a digital inclinometer B37, a bracket bolt 38, a clamping plate bolt 39, a protective felt pad 40, a clamping sleeve B41 and a rotating bolt 42.

[0148] Among them, the short clamping plate 34 and the long clamping plate 35 are both connected by two L-shaped plates, and the openings of the two are respectively installed on the left and right sides of the lower end surface of the long rod-like parts, and the short clamping plate 34 and the long clamping plate 35 are connected and fixed by clamping plate bolts 39.

[0149] The protective felt pad 40 is pasted on the inner surface of the short clamping plate 34 and the long clamping plate 35 to prevent the metal support from scratching the surface of the long rod parts. It also has the function of increasing friction to prevent the short clamping plate 34 and the long clamping plate 35 from sliding on the long rod parts.

[0150] The fixed bracket B36 is the main carrier of the digital inclinometer B37, with baffles on both sides, and the top is connected and fixed to the long clamping plate 35 by the bracket bolt 38. The tail of the rotating bolt 42 is screwed into a baffle of the fixed bracket B36 and connected to the pressing sleeve B41. By adjusting the rotating bolt 42, the pressing sleeve B41 is pressed tightly on the digital inclinometer B37, so that the digital inclinometer B37 is firmly fixed between the two baffles of the fixed bracket B36.

[0151] The digital display inclinometer B37 is provided with a data transmission reserved interface B43 for connecting a signal transmission cable.

[0152] The specific measurement process is as follows:

[0153] S6.1: Power on the aircraft, pressurize, open the aircraft long pole parts hatch, and then stop pressurizing;

[0154] S6.2: Unscrew the screw bolt 42, install the digital inclinometer B37 on the fixed bracket B36, and tighten the screw bolt 42 to press the clamping sleeve B41 tightly on the digital inclinometer B37, and fix the digital inclinometer B37 in the fixed bracket B36;

[0155] S6.3: Install the short clamping plate 34 and the long clamping plate 35 on the left and right sides of the lower end surface of the long rod-like part respectively, and connect and fix the short clamping plate 34 and the long clamping plate 35 with the clamping plate bolts 39;

[0156] S6.4: Turn on the switch of the digital inclinometer B37. The angle displayed on the screen is the angle relative to the absolute horizontal plane, that is, the angle value relative to the absolute horizontal plane;

[0157] S6.5: Press the relative zero position button of the digital display inclinometer B37 to set the current angle of the long rod parts to 0 degrees, that is, the relative zero position;

[0158] S6.6: The aircraft is re-pressed and long pole-like parts are lowered;

[0159] S6.7: When the long rod part is completely lowered, the operator observes the reading on the digital inclinometer B37 display screen at this time. This value is the angle value of the long rod part when it is lowered;

[0160] S6.8: At this time, loosen the screw bolt 42, rotate the digital inclinometer B37 90 degrees, and install it again;

[0161] S6.9: The operator manually shakes the long rod parts left and right to the limit, and then observes the indication on the digital inclinometer B37 display screen at this time. This value is the angle value of the long rod parts swinging left and right; through the data transmission reserved interface B43, all inspection data are fed back to the fixed-station debugging system of the whole aircraft, and automatic judgment is performed in combination with the calibration method of the flight control system simulation model to realize the comprehensive debugging of the flight control system.

[0162] S6.10: After the aircraft commissioning and measurement work is completed, loosen the clamp bolt 39, remove the measuring device from the long rod parts of the aircraft, and store it properly.

Claims

1. A comprehensive debugging method for an unmanned aerial vehicle flight control system, characterized in that: The method comprises the following steps: S1: Use the UAV fixed station debugging system to debug the entire aircraft system; S2: Calibrate the flight control system simulation model using the UAV flight control system simulation model calibration method; S3: Use the UAV flight control system steering gear troubleshooting system to troubleshoot the flight control system steering gear troubleshooting; S4: Use the UAV pneumatic system comprehensive debugging equipment to check and fill the pneumatic system gas; S5: Use the drone plane parts position status detection device to check the position status of the drone plane parts; S6: Use the deflection angle measuring device of the long pole parts of the UAV to check the deflection angle of the long pole parts of the UAV; In step S1, the UAV fixed station debugging system comprises a central processing computer (1), an information receiving device (2), an information display device (3), an intranet output device (4), an interactive control device (5) and an information output device (6); The central processing computer (1) has five channels in total, the first channel is connected to the information receiving device (2) for communication, the second channel is connected to the information display device (3), the third channel is connected to the intranet output device (4), the fourth channel is connected to the interactive control device (5), and the fifth channel is connected to the information output device (6); The information receiving device (2) is connected to the drone for communication, and comprises a receiving antenna (2-1) and an information transmission component (2-2); wherein the receiving antenna (2-1) receives various external information sent by the drone, analyzes and processes the information, and packages the information into corresponding data packets, and then the information transmission component (2-2) sends the data packets to the central processing computer (1); The information display device (3) comprises a signal analysis component (3-1) and a display screen A (3-2), which is used to receive the electrical signal output by the central processing computer (1), classify and process the electrical signal through the signal analysis component (3-1), receive data packets and decode the data packets into image signals in HDMI format and image signals in AV format, and display the corresponding image on the display screen A (3-2); The intranet output device (4) comprises a data integration device (4-1) and an internal network interface (4-2); the data integration device (4-1) integrates various data transmitted by the central processing computer (1) into a data packet, and then transmits the data packet into the internal network via the internal network interface (4-2) via a network cable; The interactive control device (5) is used to wirelessly connect the central processing computer (1) to the drone, receive interactive operation instructions for the image, and control the drone according to the interactive operation instructions; The information output device (6) comprises a signal analysis device (6-1) and a file output device (6-2); the signal analysis device (6-1) converts the data output by the central processing computer (1) into digital signals and text signals, which are then printed out by the file output device (6-2) for analysis by debugging personnel; The steps for debugging using the above-mentioned UAV fixed station debugging system are as follows: S1.1: Place the UAV on a fixed debugging station by hanging it from an aircraft, and adjust the aircraft to a horizontal position by using a jack; S1.2: Start the UAV and the UAV fixed station debugging system, and connect the two to ensure the connection between the information receiving device (2), the interactive control device (5) and the UAV; S1.3: Outputting various operation instructions to the UAV manually or through a pre-set automatic debugging program through the interactive control device (5) to control the operation of the UAV flight control system; S1.4: The operator observes in real time through the display screen A (3-2) the status of each system and various parameter information of the aircraft fed back to the central processing computer (1) through the information receiving device (2) of the UAV, monitors the overall situation of the aircraft, and determines whether the various indicators of the aircraft are abnormal and whether there are any problems with the aircraft status; S1.5: When the debugging data needs to be transmitted to the internal network, the internal network output device (4) is connected to the internal network computer using a network cable to achieve data transmission; S1.6: If the experimental data needs to be output in paper or CD format, this is achieved through the information output device (6); S1.7: After the system debugging is completed, disconnect the debugging system from the drone, turn off the drone and the debugging system, and hoist the drone to the ground through the aircraft suspension.

2. A comprehensive debugging method for a UAV flight management system according to claim 1, characterized in that: In step S1, the central processing computer (1) is provided with 5 channels for receiving or sending information respectively. The information is actually an analog signal value, which is transmitted through the sensors between the central processing computer (1) and each device. The determination is made based on the attribute parameters of each sensor itself and the actual current. The specific formula is as follows: W q =K g (I q R g +V g ) Among them, W q Indicates the analog signal value; K g is the fixed coefficient of the sensor, which is (1,10); I q is the actual current value; R g is the sensor resistance value; V g is the sensor correction voltage value; After the information is transmitted to the central processing computer (1), the total amount of data transmitted by the five channels collected by the central processing computer (1) is as follows: X=X1+X2+X3+X4+X5 Among them, X is the total amount of data in the central processing computer, and X1 to X5 are the data amounts of the five channels respectively; The data volume of the first channel depends on the data volume of its single line and the total number of lines. The model is: Among them, X1 is the data volume of the first channel; is the data volume of a single line of the first channel; n is the total number of lines of the first channel; Among them, K a Fixing parameter coefficients for the information receiving device; is the data volume of a single line of the first channel at time t, Is the analog signal value The accumulation model is as follows: Combining the above derived model formula, the corresponding model formula of the first channel data volume, actual current volume and sensor is obtained: Therefore, the total amount of data transmitted by the five channels collected by the central processing computer (1) is processed as follows: Among them, n, m, o, p, and q represent the total number of lines in channels 1 to 5 respectively; A determination model is set in the central processing computer (1), and the single line data volume corresponding to different devices is determined in different value ranges. The central processing computer (1) determines the source of the data channel according to the collected single line data volume. The model is as follows: Channel 1: The range is (0,2); Channel 2: The range is (3,10); Channel 3: The range is (11,50); Channel 4: The range is (51,150); Channel 5: The range is (151,300).

3. A comprehensive debugging method for a UAV flight management system according to claim 1, characterized in that: The specific steps of step S2 are as follows: S2.1: Input control commands to the UAV flight control system, conduct flight test simulation on the ground, and identify the flight state of the UAV during the flight state change process; S2.2: using three-dimensional imaging scanning technology, obtaining the test flight data of the UAV in each flight state, determining the target sub-model corresponding to each flight state in the preset flight control system simulation model, and retrieving the simulation data of the target sub-model; S2.3: adjusting simulation parameters of the target sub-model according to the test flight data and the simulation data; S2.4: obtaining a calibration flight control system simulation model according to the adjusted target sub-model; S2.5: Comparative analysis of flight control system simulation models is performed. The specific process is as follows: 1) Set the UAV theoretical model as S α ={(x,y,z)} Among them, x is the horizontal coordinate; y is the vertical coordinate; z = h (x, y), indicating the height; 2) Set the actual model of the imaging scan to S ′ α ={(x ′ ,y ′ ,z ′ )} Among them, x ′ is the horizontal coordinate; y ′ is the vertical coordinate; z ′ =h(x ′ ,y ′ ), indicating height; 3) Any detection point in space is represented by a six-degree-of-freedom vector: S(t)=[S x (t)S y (t)S z (t)S γ (t)S β (t)S θ (t)] Among them, S x (t), S y (t), S z (t) is the position coordinate of the detection point at time t; S γ (t), S β (t), S θ (t) is the inclination angle relative to the spatial coordinate axis at time t; 4) The motion trajectory is the integral over time [0, t], and the rate function per second is f sa [S(t),x,y,z], then the motion trajectory of the UAV theoretical model is 5) Similarly, the actual model motion trajectory of the imaging scan is 6) The degree of non-coincidence between the actual motion trajectory and the theoretical motion trajectory f V is the difference between the two models, so 7) According to different moving parts, different allowable ranges are set. The flight control system automatically determines whether the simulation meets the requirements within the allowable tolerance range. If the calculated misalignment f V If the given range is not met, the system will report abnormal movement of this component.

4. A comprehensive debugging method for a UAV flight management system according to claim 3, characterized in that: The specific steps of step S2.3 are as follows: S2.3.1: Determine the sequence of flight states during the flight state change of the UAV as ground taxiing state, take-off state, ascending and descending stable flight state and landing state; S2.3.2: According to the flight state sequence, and in combination with the test flight data and simulation data, adjust the simulation parameters of the target sub-model corresponding to each flight state; the specific process is as follows: For ground taxiing: 1) According to the actual movement and position status of the landing gear, the ground calibration deviation of the UAV is obtained by comparing it with the simulation data of the landing system sub-model; 2) Adjust the simulation parameters of the landing system submodel according to the ground calibration deviation; For takeoff status: 1) According to the feedback value of the inner elevon servo of the UAV and the actual deflection angle, the lateral calibration deviation of the UAV is obtained by comparing with the simulation data of the inner elevon sub-model; 2) According to the lateral calibration deviation, adjust the simulation parameters of the inner elevator sub-model; For stable flight: 1) According to the feedback value of the outer drag rudder and the actual deflection angle, the longitudinal and heading calibration deviations of the UAV are obtained by comparing them with the simulation data of the outer drag rudder sub-model; 2) According to the longitudinal and heading calibration deviations, adjust the simulation parameters of the outer drag rudder sub-model; For landing status: 1) Based on the arresting system position signal and the actual lowering angle, the landing calibration deviation of the UAV is obtained by comparing it with the simulation data of the arresting system submodel; 2) Adjust the simulation parameters of the arresting system submodel according to the landing calibration deviation.

5. The method for comprehensive debugging of a UAV flight management system according to claim 1, characterized in that: In step S3, the UAV flight control system steering gear fault troubleshooting system is to connect a controller between the flight control computer and the steering gear, the controller includes a main control module and a standby control module arranged in parallel, and a main drive module connected to the main control module and a standby drive module connected to the standby control module; the main drive module and the standby drive module are both connected to the steering gear to provide a driving electrical signal for the steering gear; The main control module is composed of a main digital signal processor and a main complex programmable logic device. The main digital signal processor receives the redundancy signal voltage value of the flight control computer, and sends the motor PWM control signal and direction signal obtained by the redundancy signal voltage value through PID operation to the main complex programmable logic device for logic operation through the redundancy management module; the main complex programmable logic device realizes the three-phase bridge control signal output, Hall acquisition, and fault signal feedback to the main digital signal processor; The main drive module includes a main isolation circuit, a main drive circuit and a main inverter circuit which are connected in sequence; wherein the main isolation circuit receives the three-phase bridge control signal processed by the main control module, performs isolation protection, enhances circuit safety, transmits the three-phase bridge control signal that meets the preset parameter requirements to the main drive circuit, drives the entire circuit to work, and outputs a high voltage to the main inverter circuit; the main inverter circuit reversely changes the high voltage signal to a current signal that can drive the stator of the main motor of the steering gear to work and can be detected by the main current sensor; the main current sensor then feeds back the current signal to the main digital signal processor; The composition and working principle of the standby control module and the standby drive module are completely consistent with those of the main channel, and can be completely interchangeable; The steering gear is connected with a main rotor position detection module, a standby rotor position detection module, a main angle detection module and a standby angle detection module; wherein the main rotor position detection module and the standby rotor position detection module both adopt Hall sensors; the main rotor position detection module and the standby rotor position detection module are respectively connected with the main motor stator and the standby motor stator of the steering gear, and are used to monitor the rotor position, and according to the actual position of the rotor, generate a rotor position signal in real time and feed the signal back to the main and standby complex programmable logic devices; the main angle detection module and the standby angle detection module are both connected with the output shaft of the steering gear, and are used to monitor the actual output position of the steering gear, and feed the position information back to the main and standby digital signal processors in real time; When the above-mentioned UAV flight control system servo fault troubleshooting system is used for monitoring and detection, the backup digital signal processor + backup complex programmable logic device monitors the operating status of the main digital signal processor + main complex programmable logic device in real time and communicates with the circuit of the main control module in real time; when the circuit of the main control module determines that any function has a fault, the circuit of the backup control module immediately takes over the circuit function of the main control module and reports the fault to the flight control computer for use in troubleshooting.

6. A comprehensive debugging method for a UAV flight management system according to claim 5, characterized in that: In step S3, during the debugging and checking process, the determination of single point faults follows the following fault location method: Among them, α is the decision parameter; U L is the measured voltage amplitude of the servo; U K is the rated voltage amplitude of the servo; r L is the measured resistance value of the servo; R K is the rated resistance value of the servo; X C is the total capacitive reactance of the servo; k is set according to the servo model and ranges from 1 to 3; The principle of the fault location method is that the system measures the measured voltage amplitude and the measured resistance value of the single point of the servo, and calculates α with the help of the theoretical parameters of the single point of the servo, including the rated voltage amplitude, the rated resistance value and the total capacitive reactance of the servo. The digital signal processor compares the calculation result with the pre-calculated value range to determine whether there is a fault at the single point.

7. A comprehensive debugging method for a UAV flight management system according to claim 1, characterized in that: In step S4, the drone pneumatic system comprehensive debugging equipment includes a power knob switch (7), a charging port (8), a nitrogen interface (9), a driving gas source interface (10), a display screen B (11), a safety exhaust knob (12), a system warning light (13), an equipment housing (14), a universal wheel (15), a gas filter (16), a driving gas source bottle (17), an electrical box assembly (18) and a nitrogen bottle (19); The device housing (14) is a box structure used to protect the components in the device, and a universal wheel (15) is installed at the bottom to support and transport the device; The gas filter (16), the driving gas source bottle (17), the electrical box assembly (18) and the nitrogen bottle (19) are arranged inside the equipment housing (14); wherein the driving gas source bottle (17) is used to store air and is connected to the nitrogen bottle (19) through a driving pump; the nitrogen bottle (19) is used to store nitrogen and is connected to the drone through a hose to inflate the drone; a gas filter (16) is arranged on the air path connected to the nitrogen bottle (19); a control assembly and a storage battery are arranged inside the electrical box assembly (18), wherein the control assembly is used in conjunction with the operation interface in the display screen B (11), and a program is pre-set through the PLC according to demand to control the operation of various electrical functions of the equipment; the storage battery is used to store electrical energy; The power knob switch (7), charging port (8), nitrogen interface (9), driving gas source interface (10), display screen B (11), safety exhaust knob (12), and system warning light (13) are arranged on the outside of the device housing (14); wherein the power knob switch (7) is connected to the control component in the electrical box assembly (18) for connecting and disconnecting the device; the charging port (8) is connected to the storage battery in the electrical box assembly (18) for storing electric energy for the storage battery during maintenance; the nitrogen interface (9) and the driving gas source interface (10) are respectively connected to the nitrogen bottle (19) and the driving gas source bottle (17) through gas pipelines for replenishing gas to the nitrogen bottle and the driving gas source bottle during maintenance; the nitrogen interface (9) and the nitrogen The connecting pipeline of the gas cylinder (19) and the connecting pipeline between the driving gas source interface (10) and the driving gas source cylinder (17) are both provided with a pressure sensor for real-time detection of gas pressure and transmission of the gas pressure value to the control component; the display screen B (11) is connected to the control component in the electrical box component (18) for displaying various information of the device and controlling the device; the safety exhaust knob (12) is connected to the connecting gas path of the nitrogen cylinder (19), and the system warning light (13) is connected to the control component in the electrical box component (18); the control component controls the system warning light (13) to work according to the pressure value fed back by the pressure sensor, and releases the system pressure by rotating the safety exhaust knob (12) to ensure the safety of the device; The specific steps for monitoring and adjusting the air volume of the pneumatic system are as follows: S4.1: Check the debugging equipment and connection status before use: S4.2: Connect the commissioning equipment to the onboard inflation valve via a hose; S4.3: Turn on the power switch; S4.4: Click on display screen B (11) to enter the test interface; S4.5: Click the "Nitrogen Bottle Switch" and "Gas Source Drive Switch" in the test interface to pass the gas into the corresponding pipelines of the debugging equipment through the nitrogen interface (9) and the drive gas source interface (10) respectively; S4.6: Select the model and inflation position in the test interface according to actual needs, and then perform driving gas pressurization; S4.7: The system pressure regulating valve works normally to gradually increase the pressure. Once the set pressure value is reached, the system automatically stops pressurizing. S4.8: At this time, the air pressure value in the pipeline is detected by the air pressure sensor and displayed on the display screen. If the design requirements are met, the inflation is started by operating the display screen, and the high-pressure gas generated in the test bench will enter the air path system of the ship-borne UAV; S4.9: After the inflation is completed, stop the inflation through the operating display screen, disconnect the equipment gas circuit from the onboard gas circuit, deflate through the operating display screen, discharge the high-pressure gas at the equipment outlet, until the pressure value displayed on the display screen is zero, remove the hose from the onboard gas circuit system, power off the equipment, and the inflation is completed; S4.10: After use, the maintenance personnel will open the equipment and check the power and gas remaining pressure. If it is insufficient, the maintenance team needs to charge and refill the equipment so that the operator can use it again.

8. The method for comprehensive debugging of a UAV flight management system according to claim 1, characterized in that: In step S5, the device for detecting the position state of the plane parts of the drone comprises a tightening handle (20), a fixing bracket A (21), a pressing sleeve A (22), a digital display inclinometer A (23) and a suction cup assembly device; The suction cup assembly device is used for adsorbing on a flat part; the fixing bracket A (21) is fixed on the suction cup assembly device; the tail of the tightening handle (20) is screwed into the top plate of the fixing bracket A (21) and connected with the pressing sleeve A (22); the pressing sleeve A (22) is pressed tightly against the digital inclinometer A (23) by adjusting the tightening handle (20), so that the digital inclinometer A (23) is fixed in the fixing bracket A (21); the digital inclinometer A (23) is provided with a data transmission reserved interface A (28) for connecting a signal transmission cable; For checking the position of the hatch, the suction cup assembly device comprises a clamping rod (24), a fixed base (25), a suction cup rocker arm (26) and a rubber suction cup (27); wherein there are three rubber suction cups (27) for adsorbing on the surface of the hatch, and controlling the adsorption or detachment state of the rubber suction cups through the clamping rod (24) arranged thereon; each of the three rubber suction cups (27) is provided with a suction cup rocker arm (26), and the angle of the suction cup rocker arm (26) can be adjusted according to the shape of the hatch surface; the fixed base (25) and the suction cup rocker arm (26) are connected by bolts and are used to be connected to the fixed bracket A (21); For checking the position of the rudder surface, the suction cup assembly device comprises a suction cup handle (29), a thickened rubber suction cup (30), a connecting bracket (31), a pressing air pump (32) and an air release pad (33); wherein the thickened rubber suction cup (30) is connected to a fixing bracket A (21) and is used for being adsorbed on the rudder surface to be tested; the suction cup handle (29) is fixed on the thickened rubber suction cup (30) through the connecting bracket (31), and the pressing air pump (32) is installed in the suction cup handle (29). The pressing air pump (32) is connected to the inside of the thickened rubber suction cup (30), and the reciprocating pressing of the pressing air pump (32) makes it possible to remove air between the thickened rubber suction cup (30) and the rudder surface to be measured, and the thickened rubber suction cup (30) is tightly adsorbed on the rudder surface by utilizing atmospheric pressure; when the air release pad (33) provided on the thickened rubber suction cup (30) is turned over, air enters between the thickened rubber suction cup (30) and the rudder surface to be measured, and the thickened rubber suction cup (30) is separated from the rudder surface to be measured; During the detection, different types of suction cup assembly devices are selected according to different plane types, and the plane types include hatches or rudders; the suction cup assembly devices are adsorbed onto the plane, and the digital display inclinometer A (23) is firmly installed, and the value of the digital display inclinometer A (23) is reset to zero, and the plane position detection is performed. All inspection data are fed back to the fixed station debugging system of the whole aircraft through the reserved interface A (28) for data transmission, and automatic judgment is performed in combination with the calibration method of the flight control system simulation model, so as to realize the comprehensive debugging of the flight control system.

9. A method for comprehensive debugging of a UAV flight management system according to claim 1, characterized in that: In step S6, the deflection angle measuring device for the long rod parts of the unmanned aerial vehicle comprises a short clamping plate (34), a long clamping plate (35), a fixing bracket B (36), a digital inclinometer B (37), a clamping plate bolt (39), a pressing sleeve B (41) and a rotating bolt (42); The short clamping plate (34) and the long clamping plate (35) are both formed by connecting two L-shaped plates, the openings of which are respectively installed on the left and right sides of the lower end surface of the long rod-like parts, and the short clamping plate (34) and the long clamping plate (35) are connected and fixed by clamping plate bolts (39); Baffles are provided on both sides of the fixed bracket B (36), and the top is connected and fixed to the long clamping plate (35); the tail of the rotating bolt (42) is screwed into a baffle of the fixed bracket B (36) and connected to the clamping sleeve B (41), and the clamping sleeve B (41) is pressed tightly against the digital inclinometer B (37) by adjusting the rotating bolt (42), so that the digital inclinometer B (37) is fixed between the two baffles of the fixed bracket B (36); the digital inclinometer B (37) is provided with a data transmission reserved interface B (43) for connecting a signal transmission cable; The process of measuring the deflection angle of the long rod parts of the UAV using the above-mentioned device is as follows: S6.1: Power on the aircraft, pressurize, open the aircraft long pole parts hatch, and then stop pressurizing; S6.2: Unscrew the screw bolt (42), install the digital inclinometer B (37) on the fixed bracket B (36), and tighten the screw bolt (42) so that the pressing sleeve B (41) is pressed tightly against the digital inclinometer B (37), and the digital inclinometer B (37) is fixed in the fixed bracket B (36); S6.3: Install the short clamping plate (34) and the long clamping plate (35) on the left and right sides of the lower end surface of the long rod-like component respectively, and connect and fix the short clamping plate (34) and the long clamping plate (35) by clamping plate bolts (39); S6.4: Turn on the switch of the digital inclinometer B (37). The angle displayed on the screen is the angle relative to the absolute horizontal plane. S6.5: Press the relative zero position button of the digital display inclinometer B (37) to set the current angle of the long rod part to 0 degrees; S6.6: The aircraft is re-pressed and long pole-like parts are lowered; S6.7: When the long rod part is completely lowered, the operator observes the reading on the display screen of the digital inclinometer B (37) at this time. The reading is the angle value of the long rod part when it is lowered; S6.8: At this time, loosen the screw bolt (42), rotate the digital inclinometer B (37) 90 degrees, and install it again; S6.9: The operator manually shakes the long rod part to the left and right to the limit, and then observes the indication on the display screen of the digital inclinometer B (37) at this time, which is the angle value of the left and right swing of the long rod part; through the reserved data transmission interface B (43), all inspection data are fed back to the whole aircraft fixed station debugging system, and automatic judgment is performed in combination with the calibration method of the flight control system simulation model, so as to realize the comprehensive debugging of the flight control system; S6.10: After the aircraft commissioning and measurement work is completed, loosen the clamping plate bolts (39), remove the measuring device from the long rod parts of the aircraft, and store it properly.

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