Flexible Configurable Digital UAV Simulation Training Signal Configuration Method and Application

Abstract

The present invention provides a method for configuring digital drone simulation training signals that can be flexibly configured, including simulating drone failures through experiments and statistically analyzing the physical quantity change curves during drone failures; decomposing physical quantity signals into three signal bases: step signals, ramp signals, and sine signals; designing the element attributes of an XML configuration file and storing each faulty physical quantity signal through an XML configuration file; the digital drone receives the injected fault information, calls and reads the corresponding XML configuration file, and outputs the physical quantity signal. This configuration method realizes the numerical simulation of corresponding physical quantities by reading the XML configuration file, omits the complex physical modeling and debugging processes, and shortens the development and debugging cycles.

Description

Technical Field

[0001] The present invention belongs to the technical field of UAV simulation training, and particularly relates to a flexible configurable digital UAV simulation training signal configuration method and application. Background Art

[0002] After the UAV is delivered to the user, the user needs to conduct training through a simulation training system. The simulation training system consists of a digital UAV, a flight control console, training management software, a simulation payload, etc. The user controls the digital UAV through the flight control console to understand the UAV's maneuverability, autonomous processing process, etc. These operations aim to cover as much as possible the real scenarios during flight tests and fully verify the system before the flight mission is executed, so as to deepen the understanding of the UAV system. Among them, the main functions of the digital UAV part in the UAV simulation training system include: simulating UAV motion, simulation control, simulating telemetry information of on-board equipment, etc. However, the UAV is complex in composition and contains multiple subsystems, typically including a power system, a flight control system, an avionics system, etc. If the digital UAV is physically modeled according to all components, a series of problems such as large scale of the digital UAV, complex interfaces, and difficult debugging will be caused, and there are also practical problems such as cross-departmental coordination and intellectual property protection. Summary of the Invention

[0003] In order to solve the problems of complex physical modeling and difficult debugging of all components in the digital UAV of the existing UAV simulation training system, the present invention designs a flexible configurable digital UAV simulation training signal configuration method. This configuration method realizes the numerical simulation of corresponding physical quantities by reading an XML configuration file, omits the complex physical modeling and debugging process, and shortens the development and debugging cycle.

[0004] The technical solutions adopted by the present invention to solve the above technical problems are as follows:

[0005] A flexible configurable digital UAV simulation training signal configuration method includes the following steps: simulating UAV faults through experiments and statistically analyzing the physical quantity change curves when the UAV has faults;

[0006] Decomposing the physical quantity signal into three signal bases: step signal, ramp signal, and sine signal;

[0007] Designing the element attributes of the XML configuration file and storing each fault physical quantity signal through an XML configuration file;

[0008] The digital UAV receives the injected fault information, calls and reads the corresponding XML configuration file, and outputs the physical quantity signal.

[0009] Further, the physical quantity signal is simulated by setting the amplitudes, frequencies, and weighted combinations of the three signal bases.

[0010] Further, the root element attribute of the XML configuration file is the number of weighted signal bases, the sub-element attribute is the type of signal base, and the sub-element values are signal amplitude, signal frequency, signal slope, and signal delay.

[0011] Further, the process of reading the XML configuration file is as follows

[0012] Read the root element, and record the number of weighted signal bases as m;

[0013] Traverse the sub-elements from 1 to m, configure the signal bases according to the sub-element attributes, and then read their sub-element values to form a signal base expression;

[0014] Weight all the signal bases to obtain the configured physical quantity signal.

[0015] Further, the three signal base weighting methods are summation.

[0016] The present invention also provides a digital unmanned aerial vehicle adopting the above digital unmanned aerial vehicle simulation training signal configuration method.

[0017] Further, the digital unmanned aerial vehicle includes a navigation control simulation module, a flight control simulation module, a flight motion simulation module, an on-board equipment simulation module, an engine simulation module, a fault simulation module, a drone instruction receiving and drone telemetry sending module;

[0018] The navigation control simulation module generates a drone position loop control instruction according to the bound navigation points and motion state information;

[0019] The flight control simulation module calculates the control law based on the drone position loop control instruction and the remote control instruction to obtain a control instruction, and sends simulated telemetry data;

[0020] The flight motion simulation module simulates the motion of the drone according to the input of the control instruction into the solution model;

[0021] The fault simulation module receives a fault injection instruction and sets the corresponding fault flag bit;

[0022] After reading the fault flag bit, the on-board equipment simulation module calls the XML configuration file corresponding to the fault, and simulates the on-board equipment according to the current drone flight state information;

[0023] After reading the fault flag bit, the engine simulation module calls the XML configuration file corresponding to the fault, and simulates the engine characteristics according to the engine control instruction;

[0024] The drone instruction receiving module receives a remote control instruction and sends it to the flight control simulation module;

[0025] The UAV telemetry sending module receives the telemetry data sent by the flight control simulation module and sends it outwards.

[0026] Furthermore, independent physical quantity XML configuration file reading interfaces are established for each component of the airborne equipment and the engine in the digital UAV.

[0027] The present invention also provides a UAV simulation training system using the above digital UAV.

[0028] Furthermore, the UAV simulation training system includes a digital UAV, a flight control console, a training management console, and a simulated payload; the training management console is used to set the initial configuration of the training subject and inject faults in real time; the digital UAV is used to perform fault simulation and processing after receiving the injected fault information and transmit the telemetry information to the flight control console; the flight control console is used to present the telemetry information; the simulated payload is used to simulate the effect of the payload monitoring image.

[0029] Advantages of the present invention compared with the prior art:

[0030] The present invention designs a flexible configuration method for digital UAV simulation training signals. Based on the XML configuration file for signal simulation, the UAV simulation training system can be independent of the physical models of each component and achieve the effect of simulating the telemetry data of each device. It can achieve rapid debugging and testing during the project development stage. This method is beneficial to the development and debugging of the simulation training system, can shorten the debugging time in the verification stage, enable the flight simulation training system to quickly adapt to requirement iterations, and improve the efficiency.

[0031] The present invention uses three basic signals, namely step signal, sine signal, and ramp signal, to represent physical quantities, which can simulate the change trends of physical signals related to UAV faults. At the same time, this simulation method can simplify the physical modeling process and is convenient and fast to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The included drawings are used to provide a further understanding of the embodiments of the present invention. They form a part of the specification, are used to illustrate the embodiments of the present invention, and together with the written description, explain the principles of the present invention. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0033] Figure 1 It is a schematic structural diagram of the UAV simulation training system provided for the specific embodiment of the present invention;

[0034] Figure 2 It is a schematic composition diagram of the digital UAV provided for the specific embodiment of the present invention;

[0035] Figure 3 Schematic diagram of the operation of the digital drone provided by the specific embodiment of the present invention;

[0036] Figure 4 Flowchart for reading XML files provided by the specific embodiment of the present invention. Specific embodiments

[0037] The following will detail the specific embodiments of the present invention. In the following description, for purposes of explanation rather than limitation, specific details are set forth to facilitate a comprehensive understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may also be practiced in other embodiments without these specific details.

[0038] It should be noted here that, in order to avoid obscuring the present invention with unnecessary details, only the device structures and / or processing steps closely related to the solution of the present invention are shown in the drawings, while other details less related to the present invention are omitted.

[0039] To facilitate understanding of the technical solution, first, the drone simulation training system, the composition and functions of the digital drone will be described, and then the method for configuring the digital drone simulation training signal will be elaborated in detail.

[0040] I. Simulation training system

[0041] 1.1 System composition

[0042] The drone simulation training system includes a digital drone, a flight control console, a training management console, a simulated payload, etc. Each component in the system communicates through a network. The system composition is as Figure 1 shown.

[0043] In the simulation training system, the flight control console and the training management console are two seats, respectively for the trainees and the coaches. The training management console is responsible for setting the initial configuration of the training subjects, injecting faults in real time, etc. After receiving the injected fault information, the digital drone performs fault simulation, processing, etc., and transmits the telemetry information to the flight control console for display. The trainees make manipulation decisions based on the presented data on the flight control console, thus achieving the purpose of simulation training.

[0044] The payload is a device carried by the drone for reconnaissance and surveillance purposes. The simulated payload is used to simulate the effect of the payload surveillance image and is also part of the simulation training system.

[0045] 1.2 Composition of the digital drone

[0046] The digital unmanned aerial vehicle provides functions such as simulating the 6-degree-of-freedom motion model, flight control system, power system, and avionics system of the unmanned aerial vehicle. It includes the mathematical simulation of all subsystems of a real unmanned aerial vehicle and is a multi-disciplinary comprehensive and complex integrated software.

[0047] The functional modules of the digital unmanned aerial vehicle of the present invention are as Figure 2 shown, including 8 parts such as a flight motion simulation module, a flight control simulation module, an on-board equipment simulation module, a navigation control simulation module, an engine simulation module, a fault simulation module, a drone command receiving and drone telemetry sending module, etc. to realize the characteristic simulation of the digital unmanned aerial vehicle. The flight motion simulation module simulates the 6-degree-of-freedom motion of the unmanned aerial vehicle by solving the model according to the input of the control command; the flight control simulation module calculates the control law based on the position loop control command and the remote control command of the unmanned aerial vehicle to obtain the control command, and outputs it to the flight motion simulation module to realize the position and attitude control of the unmanned aerial vehicle, and at the same time sends the simulated telemetry data; the navigation control simulation module generates the position loop control command of the unmanned aerial vehicle according to the set navigation points and motion state information; the fault simulation module receives the fault injection command sent by the training management console and sets the corresponding fault flag bit. After receiving the fault flag bit, the on-board equipment simulation module and the engine simulation module can read the locally configured XML file for physical signal simulation. After reading the fault flag bit, the on-board equipment simulation module calls the XML configuration file corresponding to the fault and simulates equipment such as on-board electrical, altimeter, rudder system, generator, etc. according to the current flight state information of the unmanned aerial vehicle to realize the simulation of the response physical quantity and state quantity; after reading the fault flag bit, the engine simulation module calls the XML configuration file corresponding to the fault and simulates the engine characteristics according to the engine control command, and outputs thrust, rotor speed, etc. The drone command receiving module receives the remote control command sent by the flight control console and then sends the remote control command to the flight control simulation module; the drone telemetry sending module receives the telemetry data sent by the flight control simulation module, packs the telemetry data frame and sends it outwards.

[0048] In the digital unmanned aerial vehicle of the present invention, with the flight control simulation module as the scheduling core, during the programmed flight process, the flight control simulation module receives the navigation command and outputs the control command to control the motion of the unmanned aerial vehicle, thus forming a control closed loop. As Figure 3 shown, the fault simulation module receives the fault information injected by the training management console and sets the fault flag bit. After the on-board equipment simulation module and the engine simulation module judge the fault flag bit, they read the corresponding configuration file, and then the fault appears. The faults set for autonomous processing on the digital unmanned aerial vehicle will be judged and processed by the flight control simulation module; the faults not set for autonomous processing on the digital unmanned aerial vehicle will be telemetered to the flight control console for the ground remote control personnel to process.

[0049] For traditional digital UAVs, when a fault injection signal is received from the training management console, the fault simulation module sets the corresponding fault flag. After the airborne equipment simulation module and the engine simulation module read the corresponding flag, they change the operating mechanism of the physical models of the corresponding components to achieve fault simulation. This implementation relies on physical modeling, increasing the system complexity of the digital UAV and the debugging difficulty.

[0050] In the present invention, the output of physical quantity signals in the airborne equipment simulation module and the engine simulation module is realized by XML configuration. According to the fault type, data protocol, and physical quantity range, the changes of physical signals are simulated. When a fault injection signal is received, the signal law can be changed in real time. For example, after receiving the generator fault injection information, the fault simulation module sets the generator fault flag to TRUE. The physical quantity of "bus voltage" in the airborne equipment simulation module should decrease slowly. Generally, the power supply voltage of UAV airborne equipment is 28.5V, and the bus voltage generally remains between 26V and 30V. After a generator fault occurs, the simulated bus voltage drops from 28.5V at a rate of 0.1V per 5 minutes. The change process of the bus voltage signal is realized through the XML configuration file, thus realizing the dynamic process of fault simulation.

[0051] II. Flexible Configuration Method for Digital UAV Simulation Training Signals

[0052] The physical signal quantities of traditional digital UAVs are obtained through physical modeling. The present invention proposes a method to achieve telemetry information presentation by numerically simulating key signals by reading a configuration file without physical modeling of all components, so as to achieve the purpose of simulation training.

[0053] A flexible configuration method for digital UAV simulation training signals provided by the present invention includes the following steps:

[0054] S1. Simulate UAV faults through experiments and statistically analyze the physical quantity change curves during UAV faults.

[0055] S2. Decompose the physical quantity signals into three signal bases: step signals, ramp signals, and sine signals, and simulate physical quantities with different change laws by setting the amplitudes, frequencies, and weighted combinations of the three signal bases.

[0056] UAV telemetry data is generally divided into physical quantities and status quantities. The simulation of status quantities is relatively simple and is not the focus of discussion in the present invention. The present invention divides the physical quantity signals into three signal bases - step signals, ramp signals, and sine signals, and simulates physical quantities with various change laws by setting the amplitudes, frequencies, and weighted combinations of several signal bases. The weighting rules of the signals are realized by reading the XML configuration file.

[0057] S3. Design the element attributes of the XML configuration file, and store each fault physical quantity signal through an XML configuration file. Set the attribute of the root element of the XML configuration file as the weighted signal quantity, the attribute of the sub-element as the type of signal basis, and the sub-element values as the signal amplitude, signal frequency, signal slope, and signal delay.

[0058] The original intention of XML language design is to transmit and store data, and it has been widely used now. XML files form a tree-structured data in the form of code, with strong scalability. The relationships between elements such as root elements, sub-elements, and sibling elements are identified in the file, and each element is assigned other elements, attributes, text, etc., making it flexible to use.

[0059] In the present invention, the weighted signal quantity is read as the attribute of the root element, that is, how many signals are superimposed to form this physical quantity; the type of signal basis is read as the attribute of the sub-element; the signal amplitude, signal frequency, signal slope, signal delay, etc. are read as the sub-element values, thus constituting the essential elements of a signal basis. Now, the corresponding relationship between the signal and the file representation is listed as follows.

[0060] Table 1 Corresponding relationship between signal and file representation

[0061]

[0062] Taking the generator fault as an example, after receiving the generator fault injection information, the fault simulation module sets the generator fault flag to TRUE. After the airborne equipment simulation module detects the fault flag, it reads the bus voltage configuration part of the XML file. The bus voltage configuration in the XML file is To achieve that the bus voltage starts from 28.5V and drops by 0.1V every 5 minutes. In this embodiment, a sine signal is used to simulate the small acquisition error of the voltage, that is, a sin signal basis with a high-frequency oscillation signal amplitude A of 0.01 and a frequency of 50Hz, that is, y = 0.01sin(2 * 3.14 * 50 * t).

[0063] Then in the XML file, the root element is set to the signal number 3, and the sub-elements are respectively 3 signal bases. The sub-elements ampl, freq, slope, and delay of the three signal bases are set.

[0064] S4. The digital UAV receives the injected fault information, calls and reads the corresponding XML configuration file, and outputs the physical quantity signal.

[0065] By setting information such as element attributes and values in the XML file, the present invention adds code for reading and parsing the XML file in a digital unmanned aerial vehicle (UAV), thereby enabling the calculation function of configuring physical quantity signals. The XML file presents data in a tree structure, so the program reads the data in the XML file according to the tree structure. The number of weighted signals is set by the root element attribute, and each signal information is obtained by traversing the attributes and values of the child elements according to this number.

[0066] The process of reading the XML configuration file is as Figure 4 shown. Specifically: 1) Read the root element, and record the number of weighted signals as m; 2) Traverse the child elements from 1 to m. When the child element attribute sin indicates that it is a configured sine signal, then read the values of its child elements 1 to 4 to obtain the amplitude, frequency, slope, delay, etc. After reading, a sine signal is formed; 3) Read the 2nd to mth child elements in turn according to this method; 4) Weight all the signal bases to obtain the configured physical quantity signal.

[0067] In this embodiment, the three signal base weighting methods are addition.

[0068] The digital UAV program contains a time variable, and the signal changes continuously with time. Therefore, the change law of the signal after reading the XML file will be maintained until the end of the simulation training. If a new fault is injected during the simulation training process, the signal change law will be reset, thereby realizing the function of real-time fault injection.

[0069] In the digital UAV, independent physical quantity XML configuration file reading interfaces are established for each component of the on-board equipment and the engine respectively, and each fault physical quantity uses an independent XML configuration file. The configuration file is set according to the specified signal order, and this order only needs to keep the configuration file consistent with the reading program. The program reads the file content according to the file rules to implement the signal configuration function.

[0070] The present invention is applicable to the UAV simulation training system, which is used to simulate the operation of subsystems and equipment in the UAV system. This flexible configuration UAV simulation training model can generate corresponding data according to the expected rules, without the need to carry out strict physical modeling for subsystems or equipment. The triggering of fault phenomena and fault data can be achieved only by reading the configuration file, which is convenient and flexible to use.

[0071] Features described and / or illustrated for one embodiment above can be used in the same or similar manner in one or more other embodiments, and / or combined with features in other embodiments or used to replace features in other embodiments.

[0072] It should be emphasized that the term "comprising / including" when used herein refers to the presence of features, whole things, steps or components, but does not exclude the presence or addition of one or more other features, whole things, steps, components or their combinations.

[0073] Many features and advantages of these embodiments will be apparent from this detailed description, and accordingly the appended claims are intended to cover all such features and advantages of these embodiments that fall within their true spirit and scope. In addition, since many modifications and variations will be readily apparent to those skilled in the art, the embodiments of the invention are not to be limited to the exact construction and operation shown and described, but may cover all suitable modifications and equivalents that fall within their scope.

[0074] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

[0075] The parts of the present invention not described in detail are well-known techniques to those skilled in the art.

Claims

1. A method for configuring digital drone simulation training signals, characterized in that, Including the following steps Simulate UAV failures through experiments and statistically analyze the change curves of physical quantities during UAV failures; Decompose the physical quantity signals into three signal bases: step signals, ramp signals, and sine signals; Design the element attributes of the XML configuration file and store each faulty physical quantity signal through an XML configuration file; The digital UAV receives the injected fault information, calls and reads the corresponding XML configuration file, and outputs the physical quantity signal; The root element attribute of the XML configuration file is the number of weighted signal bases, the sub-element attribute is the type of signal base, and the sub-element values are signal amplitude, signal frequency, signal slope, and signal delay; The process of reading the XML configuration file is as follows: Read the root element to obtain the number of weighted signal bases, denoted as m; Traverse the sub-elements from 1 to m, configure the signal bases according to the sub-element attributes, and then read their sub-element values to form the signal base expression; Weight all the signal bases to obtain the configured physical quantity signal.

2. The method for configuring digital drone simulation training signals according to claim 1, characterized in that, The physical quantity signal is simulated by setting the amplitudes, frequencies, and weighted combinations of the three signal bases.

3. The method for configuring digital drone simulation training signals according to claim 1, characterized in that, The weighting method of the three signal bases is summation.

4. A digital drone, characterized in that, Adopt the digital UAV simulation training signal configuration method described in any one of claims 1 to 3.

5. The digital drone according to claim 4, characterized in that, Including a navigation control simulation module, a flight control simulation module, a flight motion simulation module, an on-board equipment simulation module, an engine simulation module, a fault simulation module, a UAV command receiving module, and a UAV telemetry sending module; The navigation control simulation module generates UAV position loop control commands according to the loaded navigation points and motion state information; The flight control simulation module calculates the control law based on the UAV position loop control commands and remote control commands to obtain control commands and sends simulated telemetry data; The flight motion simulation module simulates the UAV motion according to the input of the control commands by solving the model; The fault simulation module receives the fault injection command and sets the corresponding fault flag bit; After reading the fault flag bit, the on-board equipment simulation module calls the XML configuration file corresponding to the fault and simulates the on-board equipment according to the current UAV flight state information; After reading the fault flag bit, the engine simulation module calls the XML configuration file corresponding to the fault and simulates the engine characteristics according to the engine control commands; The UAV command receiving module receives the remote control commands and sends them to the flight control simulation module; The UAV telemetry sending module receives the telemetry data sent by the flight control simulation module and sends it outwards.

6. The digital drone according to claim 5, characterized in that, Separate physical quantity XML configuration file reading interfaces are established for each component of the on-board equipment and the engine in the digital UAV.

7. A drone simulation training system, characterized in that, Adopt the digital UAV described in any one of claims 4 to 6.

8. The drone simulation training system according to claim 7, characterized in that, Including a digital UAV, a flight control console, a training management console, and a simulated payload; the training management console is used to set the initial configuration of training subjects and inject faults in real time; the digital UAV is used to perform fault simulation and processing after receiving the injected fault information and transmit the telemetry information to the flight control console; the flight control console is used to present the telemetry information; the simulated payload is used to simulate the effect of the payload monitoring image.

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