Navigation device fusion test method, apparatus, system, device, and storage medium

Abstract

This invention discloses a navigation device fusion testing method, apparatus, system, equipment, and storage medium. The method includes: sending flight control commands to a navigation simulation model via a flight control device; performing simulation calculations and fault injection processing on the navigation simulation model according to the flight control commands to obtain the actual flight state parameters of the aircraft; outputting the actual flight state parameters to the aircraft's navigation device, where the navigation device performs fusion calculations on the actual flight state parameters to obtain navigation fusion data; acquiring the navigation fusion data output by the navigation device; and comparing the actual flight state parameters and the navigation fusion data to obtain the navigation device fusion test result. This solution effectively verifies the navigation fusion algorithm of the navigation device, fully tests the correctness and durability of the calculated data of the navigation fusion algorithm, and improves the accuracy of the navigation fusion algorithm.

Description

Technical Field

[0001] This invention relates to the field of aircraft navigation technology, and in particular to a navigation device fusion testing method, apparatus, system, equipment, and storage medium. Background Technology

[0002] The positioning and navigation system is one of the core components of a flying car. During flight, it provides navigation information such as attitude, speed, and position, enabling the flying car's flight control system to achieve accurate positioning and closed-loop attitude control. The mainstream navigation technologies for modern aircraft in the low-altitude domain include satellite positioning navigation, INS inertial navigation, and visual navigation. Different navigation systems have different advantages and disadvantages, and different performance indicators, due to differences in their principles and structures.

[0003] For low-altitude flying cars, the flight environment in the low-altitude field is more complex and changeable, and a single navigation method cannot meet the requirements. Generally, multiple navigation technologies and multiple sensors are used for fusion calculation to obtain high-precision and high-reliability positioning, attitude and speed information with better fault tolerance. This algorithm is generally called a navigation fusion algorithm.

[0004] The fusion algorithm for positioning and navigation is one of the important functions of the positioning and navigation system of flying cars, and it is also a key focus of integrated navigation development. Generally, it involves collecting data from multiple sensors with the same function and fusing the information. During the development process, one of the verification challenges is how to determine whether the result obtained by fusing data from multiple sensors through the fusion algorithm is more accurate than the result obtained from the output of a single sensor. Summary of the Invention

[0005] The main objective of this invention is to provide a navigation device fusion testing method, apparatus, system, device, and storage medium, which aims to effectively verify the navigation fusion algorithm of the navigation device and improve the accuracy of the navigation fusion algorithm.

[0006] To achieve the above objectives, embodiments of the present invention provide a navigation device fusion testing method, the method comprising:

[0007] Send flight control commands to the navigation simulation model via flight control equipment;

[0008] The actual flight state parameters of the aircraft are obtained by performing simulation calculations and fault injection processing based on the flight control commands through the navigation simulation model.

[0009] The actual flight status parameters are output to the aircraft's navigation equipment, which then performs fusion calculations on the actual flight status parameters to obtain navigation fusion data.

[0010] Obtain the navigation fusion data output by the navigation device;

[0011] The actual flight status parameters and navigation fusion data are compared to obtain the navigation device fusion test results.

[0012] Optionally, the step of sending flight control commands to the navigation simulation model via the flight control device includes:

[0013] Flight control commands are sent to the flight control equipment, which then calculates the control rate based on the flight control commands and the navigation fusion data output by the navigation equipment, and generates flight control commands that are sent to the navigation simulation model.

[0014] Optionally, the step of obtaining the actual flight state parameters of the aircraft by performing simulation calculations and fault injection processing based on the flight control commands using the navigation simulation model includes:

[0015] The navigation simulation model performs simulation calculations based on the flight control commands and the aircraft's kinematics and dynamics models to obtain simulated flight state parameters. These simulated flight state parameters include one or more of the following: the aircraft's current speed, attitude, heading, angular velocity, angular acceleration, altitude, acceleration, position, and related system states.

[0016] The simulated flight state parameters are subjected to fault injection processing, and the actual flight state parameters of the aircraft are output.

[0017] Optionally, the step of performing fault injection processing on the simulated flight state parameters includes:

[0018] One or more of the following methods can be used to modify the simulated flight state parameters: superimposing the same noise, modifying them to measured data under the same operating conditions, or modifying them to abnormal data.

[0019] Optionally, there are multiple navigation devices, each including a sensor unit and a computing unit. The step of outputting the actual flight state parameters to the navigation device of the aircraft, and having the navigation device perform fusion calculation on the actual flight state parameters to obtain navigation fusion data includes:

[0020] The actual flight status parameters are output to each navigation device of the aircraft, and the soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight status parameters through the navigation fusion algorithm to obtain navigation fusion data.

[0021] Optionally, the step of comparing the actual flight state parameters and navigation fusion data to obtain the navigation device fusion test results includes:

[0022] By comparing the data difference between the actual flight state parameters and the navigation fusion data, it is determined whether the data difference reaches a preset threshold; and / or,

[0023] By comparing the delay between the actual flight status parameters and the navigation fusion data, it is determined whether the delay meets the preset delay conditions;

[0024] The fusion test results of the navigation device are obtained based on the judgment results.

[0025] Optionally, the step of comparing the actual flight state parameters and navigation fusion data to obtain the navigation device fusion test results further includes:

[0026] Based on the judgment results and analysis of the actual control effect of the flight controller, the calculation effect of the navigation fusion data of the navigation device is obtained through comprehensive analysis.

[0027] Optionally, the method further includes:

[0028] The navigation fusion data output by the navigation device is input to the flight control device, so that the flight control device can send flight control commands to the navigation simulation model according to the received flight control commands and navigation fusion data.

[0029] This invention also proposes a navigation device fusion testing method, the method comprising:

[0030] Receive flight control commands sent by the flight control equipment;

[0031] Based on the flight control commands, simulation calculations and fault injection processing are performed to obtain the actual flight state parameters of the aircraft;

[0032] The actual flight status parameters are output to the host computer and the navigation equipment of the aircraft. The navigation equipment performs fusion calculation on the actual flight status parameters to obtain navigation fusion data, and outputs the navigation fusion data to the host computer so that the host computer can compare the actual flight status parameters and the navigation fusion data to obtain the navigation equipment fusion test results.

[0033] Optionally, the step of performing simulation calculations and fault injection processing based on the flight control commands to obtain the actual flight state parameters of the aircraft includes:

[0034] Based on the flight control commands and combined with the aircraft's kinematics and dynamics model, simulation calculations are performed to obtain simulated flight state parameters. The simulated flight state parameters include one or more of the following: the aircraft's current speed, attitude, heading, angular velocity, angular acceleration, altitude, acceleration, position, and related system states.

[0035] The simulated flight state parameters are subjected to fault injection processing, and the actual flight state parameters of the aircraft are output.

[0036] This invention also proposes a navigation device fusion testing system, the system comprising: a host computer and a navigation simulation model, both the host computer and the navigation simulation model being connected to flight control equipment and navigation equipment, the host computer being connected to the navigation simulation model; wherein:

[0037] The host computer is used to send flight control commands to the navigation simulation model through the flight control device, obtain the actual flight state parameters output by the navigation simulation model and the navigation fusion data output by the navigation device, compare the actual flight state parameters and the navigation fusion data to obtain the navigation device fusion test results;

[0038] The navigation simulation model is used to perform simulation calculations and fault injection processing according to the flight control commands to obtain the actual flight state parameters of the aircraft. The actual flight state parameters are then output to the host computer and the aircraft's navigation equipment. The navigation equipment performs fusion calculations on the actual flight state parameters to obtain navigation fusion data.

[0039] Optionally, the system further includes: a signal acquisition unit and a signal transmission unit; the navigation simulation model includes a flight simulation unit, a navigation simulation unit, and a signal injection computer, wherein:

[0040] The signal acquisition unit is connected to the navigation device via a first bus, to the flight control device via a third bus, and to the flight simulation unit and the host computer. It is used to acquire the flight control commands sent by the flight control device and send them to the flight simulation unit, as well as to send the navigation fusion data output by the navigation device to the host computer.

[0041] The signal transmitting unit is connected to the navigation device via a second bus, and is connected to the flight simulation unit and the host computer via the navigation simulation and signal injection computer.

[0042] The flight simulation unit is used to perform simulation calculations based on the flight control commands and the aircraft's kinematics and dynamics models to obtain simulated flight state parameters.

[0043] The navigation simulation and signal injection computer is used to perform fault injection processing on the simulated flight state parameters, output the processed actual flight state parameters of the aircraft to the host computer, and output them to the navigation device through the signal transmission unit.

[0044] This invention also proposes a navigation device fusion testing apparatus, the apparatus comprising:

[0045] The transmitting module is used to send flight control commands to the navigation simulation model via the flight control equipment;

[0046] The calculation and processing module is used to perform simulation calculations and fault injection processing based on the flight control commands through the navigation simulation model to obtain the actual flight state parameters of the aircraft.

[0047] The output module is used to output the actual flight state parameters to the navigation device of the aircraft, and the navigation device performs fusion calculation on the actual flight state parameters to obtain navigation fusion data;

[0048] The acquisition module is used to acquire the navigation fusion data output by the navigation device;

[0049] The comparison module is used to compare the actual flight state parameters with the navigation fusion data to obtain the navigation device fusion test results.

[0050] This invention also proposes a navigation device fusion testing apparatus, the apparatus comprising:

[0051] The receiving module is used to receive flight control commands sent by the flight control equipment;

[0052] The processing module is used to perform simulation calculations and fault injection processing according to the flight control commands to obtain the actual flight state parameters of the aircraft.

[0053] The output module is used to output the actual flight status parameters to the host computer and the navigation device of the aircraft. The navigation device performs fusion calculation on the actual flight status parameters to obtain navigation fusion data, and outputs the navigation fusion data to the host computer so that the host computer can compare the actual flight status parameters and the navigation fusion data to obtain the navigation device fusion test result.

[0054] This invention also proposes a simulation testing device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the navigation device fusion testing method described above.

[0055] This invention also proposes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the navigation device fusion test method described above.

[0056] This invention proposes a navigation device fusion testing method, apparatus, system, device, and storage medium. The method involves sending flight control commands to a navigation simulation model via a flight control device. The navigation simulation model then performs simulation calculations and fault injection processing based on the flight control commands to obtain the actual flight state parameters of the aircraft. These actual flight state parameters are output to the aircraft's navigation device, which performs fusion calculations on them to obtain navigation fusion data. The navigation fusion data output by the navigation device is then acquired. Finally, the actual flight state parameters and the navigation fusion data are compared to obtain the navigation device fusion test result. This solution uses the simulation calculation and fault injection data from the navigation simulation model as the sensor input data required by the navigation device. The navigation device performs fusion calculations, effectively verifying the navigation fusion algorithm. This allows for thorough testing of the correctness and durability of the navigation fusion algorithm's calculated data, improving the accuracy of the navigation fusion algorithm. Furthermore, this solution allows for the programmed input of flight control commands to the flight control device via a computer, meeting the requirements for automated navigation fusion testing. Attached Figure Description

[0057] Figure 1 This is a schematic diagram of the functional modules of the navigation device fusion testing device of the present invention;

[0058] Figure 2 This is a schematic diagram of the architecture of the navigation device fusion test system according to an embodiment of the present invention;

[0059] Figure 3 This is a flowchart illustrating the first embodiment of the navigation device fusion testing method of the present invention;

[0060] Figure 4 This is a flowchart illustrating the second embodiment of the navigation device fusion testing method of the present invention;

[0061] Figure 5 This is a functional module diagram of the first embodiment of the navigation device fusion testing device of the present invention;

[0062] Figure 6 This is a functional module diagram of the second embodiment of the navigation device fusion testing device of the present invention.

[0063] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0064] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0065] The main solution of this invention is as follows: Flight control commands are sent to a navigation simulation model via a flight control device; the navigation simulation model performs simulation calculations and fault injection processing based on the flight control commands to obtain the actual flight state parameters of the aircraft; the actual flight state parameters are output to the aircraft's navigation device, which performs fusion calculations on the actual flight state parameters to obtain navigation fusion data; the navigation fusion data output by the navigation device is acquired; and the actual flight state parameters and navigation fusion data are compared to obtain the navigation device fusion test results. This solution uses the simulation calculation and fault injection data from the navigation simulation model as the sensor input data required by the navigation device, which then performs fusion calculations to effectively verify the navigation fusion algorithm. This fully tests the correctness and durability of the navigation fusion algorithm's calculated data, improving the accuracy of the navigation fusion algorithm. Furthermore, this solution allows for the programmed input of flight control commands to the flight control device via a computer, meeting the requirements for automated navigation fusion testing.

[0066] Specifically, refer to Figure 1 , Figure 1 This is a functional module diagram of the navigation device fusion testing device of the present invention. The navigation device fusion testing device can be a data processing device independent of the device itself, which can be carried on the device in hardware or software form. This device can be a smart mobile terminal with data processing capabilities, such as a mobile phone or tablet computer, or a fixed device with data processing capabilities (such as an aircraft simulation testing device) or a server.

[0067] In this embodiment, the navigation device fusion test device includes at least an output module 110, a processor 120, a memory 130, and a communication module 140.

[0068] The memory 130 stores the operating system and navigation device fusion test program; the output module 110 may be a display screen, etc. The communication module 140 may include a WIFI module and a Bluetooth module, etc., and communicates with external devices or servers through the communication module 140.

[0069] In one implementation, when the navigation device fusion test program in memory 130 is executed by the processor, the following steps can be performed:

[0070] Send flight control commands to the navigation simulation model via flight control equipment;

[0071] The actual flight state parameters of the aircraft are obtained by performing simulation calculations and fault injection processing based on the flight control commands through the navigation simulation model.

[0072] The actual flight status parameters are output to the aircraft's navigation equipment, which then performs fusion calculations on the actual flight status parameters to obtain navigation fusion data.

[0073] Obtain the navigation fusion data output by the navigation device;

[0074] The actual flight status parameters and navigation fusion data are compared to obtain the navigation device fusion test results.

[0075] Furthermore, when the navigation device fusion test program in memory 130 is executed by the processor, it also performs the following steps:

[0076] Flight control commands are sent to the flight control equipment, which then calculates the control rate based on the flight control commands and the navigation fusion data output by the navigation equipment, and generates flight control commands that are sent to the navigation simulation model.

[0077] Furthermore, when the navigation device fusion test program in memory 130 is executed by the processor, it also performs the following steps:

[0078] The navigation simulation model performs simulation calculations based on the flight control commands and the aircraft's kinematics and dynamics models to obtain simulated flight state parameters. These simulated flight state parameters include one or more of the following: the aircraft's current speed, attitude, heading, angular velocity, angular acceleration, altitude, acceleration, position, and related system states.

[0079] The simulated flight state parameters are subjected to fault injection processing, and the actual flight state parameters of the aircraft are output.

[0080] Furthermore, when the navigation device fusion test program in memory 130 is executed by the processor, it also performs the following steps:

[0081] One or more of the following methods can be used to modify the simulated flight state parameters: superimposing the same noise, modifying them to measured data under the same operating conditions, or modifying them to abnormal data.

[0082] Furthermore, when the navigation device fusion test program in memory 130 is executed by the processor, it also performs the following steps:

[0083] The actual flight status parameters are output to each navigation device of the aircraft, and the soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight status parameters through the navigation fusion algorithm to obtain navigation fusion data.

[0084] Furthermore, when the navigation device fusion test program in memory 130 is executed by the processor, it also performs the following steps:

[0085] By comparing the data difference between the actual flight state parameters and the navigation fusion data, it is determined whether the data difference reaches a preset threshold; and / or,

[0086] By comparing the delay between the actual flight status parameters and the navigation fusion data, it is determined whether the delay meets the preset delay conditions;

[0087] The fusion test results of the navigation device are obtained based on the judgment results.

[0088] Furthermore, when the navigation device fusion test program in memory 130 is executed by the processor, it also performs the following steps:

[0089] Based on the judgment results and analysis of the actual control effect of the flight controller, the calculation effect of the navigation fusion data of the navigation device is obtained through comprehensive analysis.

[0090] Furthermore, when the navigation device fusion test program in memory 130 is executed by the processor, it also performs the following steps:

[0091] The navigation fusion data output by the navigation device is input to the flight control device, so that the flight control device can send flight control commands to the navigation simulation model according to the received flight control commands and navigation fusion data.

[0092] In one implementation, when the navigation device fusion test program in memory 130 is executed by the processor, the following steps can be performed:

[0093] Receive flight control commands sent by the flight control equipment;

[0094] Based on the flight control commands, simulation calculations and fault injection processing are performed to obtain the actual flight state parameters of the aircraft;

[0095] The actual flight status parameters are output to the host computer and the navigation equipment of the aircraft. The navigation equipment performs fusion calculation on the actual flight status parameters to obtain navigation fusion data, and outputs the navigation fusion data to the host computer so that the host computer can compare the actual flight status parameters and the navigation fusion data to obtain the navigation equipment fusion test results.

[0096] Furthermore, when the navigation device fusion test program in memory 130 is executed by the processor, it also performs the following steps:

[0097] Based on the flight control commands and combined with the aircraft's kinematics and dynamics model, simulation calculations are performed to obtain simulated flight state parameters. The simulated flight state parameters include one or more of the following: the aircraft's current speed, attitude, heading, angular velocity, angular acceleration, altitude, acceleration, position, and related system states.

[0098] The simulated flight state parameters are subjected to fault injection processing, and the actual flight state parameters of the aircraft are output.

[0099] This embodiment, through the above-described scheme, specifically sends flight control commands to the navigation simulation model via the flight control equipment; the navigation simulation model performs simulation calculations and fault injection processing based on the flight control commands to obtain the actual flight state parameters of the aircraft; the actual flight state parameters are output to the aircraft's navigation equipment, which performs fusion calculations on the actual flight state parameters to obtain navigation fusion data; the navigation fusion data output by the navigation equipment is acquired; and the actual flight state parameters and navigation fusion data are compared to obtain the navigation equipment fusion test results. This scheme uses the data from the navigation simulation model's simulation calculations and fault injection processing as the sensor input data required by the navigation equipment, which then performs fusion calculations to effectively verify the navigation fusion algorithm. This allows for thorough testing of the correctness and durability of the navigation fusion algorithm's calculated data, improving the accuracy of the navigation fusion algorithm. Furthermore, this scheme allows for the programmed input of flight control commands to the flight control equipment via a computer, meeting the requirements for automated navigation fusion testing.

[0100] Reference Figure 2 , Figure 2 This is a schematic diagram of the architecture of the navigation device fusion test system according to an embodiment of the present invention.

[0101] like Figure 2 As shown in the figure, a navigation device fusion testing system proposed in this embodiment of the invention includes: a host computer and a navigation simulation model, both of which are connected to flight control equipment and navigation equipment, and the host computer is connected to the navigation simulation model; wherein:

[0102] Flight control equipment is used to receive positioning and navigation data such as position, attitude, and velocity output by navigation equipment, perform closed-loop calculation of control laws, and output flight control commands to the navigation simulation model.

[0103] The host computer is used to send flight control commands to the navigation simulation model through the flight control device, obtain the actual flight state parameters output by the navigation simulation model and the navigation fusion data output by the navigation device, compare the actual flight state parameters and the navigation fusion data to obtain the navigation device fusion test results;

[0104] The navigation simulation model is used to perform simulation calculations and fault injection processing according to the flight control commands to obtain the actual flight state parameters of the aircraft. The actual flight state parameters are then output to the host computer and the aircraft's navigation equipment. The navigation equipment performs fusion calculations on the actual flight state parameters to obtain navigation fusion data.

[0105] Furthermore, as one implementation, the system further includes: a signal acquisition unit and a signal transmission unit; the navigation simulation model includes a flight simulation unit, a navigation simulation unit, and a signal injection computer, wherein:

[0106] The signal acquisition unit, via the first bus (i.e. Figure 2 The middle bus 1) connects to the navigation device, via the third bus (i.e. Figure 2 The middle bus 3) connects to the flight control device and is connected to the flight simulation unit and the host computer. It is used to collect the flight control commands sent by the flight control device and send them to the flight simulation unit, as well as send the navigation fusion data output by the navigation device to the host computer.

[0107] The signal transmitting unit transmits signals via a second bus (i.e.) Figure 2 The middle bus 2) connects to the navigation device, and connects to the flight simulation unit and the host computer through the navigation simulation and signal injection computer;

[0108] The flight simulation unit is used as a load to receive flight control commands from the flight control equipment, and performs simulation calculations based on the flight control commands and the aircraft's kinematics and dynamics model to obtain simulated flight state parameters, which include information such as the aircraft's current speed, attitude, and position.

[0109] The navigation simulation and signal injection computer is used to perform fault injection processing on the simulated flight state parameters, output the processed actual flight state parameters of the aircraft to the host computer, and output them to the navigation device through the signal transmission unit.

[0110] In the above scheme, each bus can adopt the form of vehicle CAN bus, ARINC825 bus, ARINC429 bus, etc.

[0111] The solution in this invention embodiment mainly verifies the effect of the navigation fusion algorithm on fusing data from multiple sensors.

[0112] The main principle of this embodiment is as follows:

[0113] The host computer sends flight control commands to the flight control equipment. The flight control equipment calculates the control rate based on the flight control commands and the navigation fusion data output by the navigation equipment, and generates flight control commands which are then sent to the navigation simulation model. The navigation simulation model performs simulation calculations and fault injection processing based on the flight control commands to obtain the actual flight state parameters of the aircraft. The actual flight state parameters are then output to the host computer and the aircraft's navigation equipment. The navigation equipment performs fusion calculations on the actual flight state parameters to obtain navigation fusion data, which is then output to the host computer. The host computer compares the actual flight state parameters with the navigation fusion data to obtain the navigation equipment fusion test results.

[0114] In this embodiment, there can be multiple navigation devices, each of which includes a sensor unit and a computing unit. The positioning and navigation data output by each navigation device includes sensor data from the sensor unit and fused computing data from the computing unit.

[0115] As mentioned earlier, for low-altitude flying cars, the flight environment in the low-altitude field is more complex and changeable, and a single navigation method cannot meet the requirements. Generally, multiple navigation technologies and multiple sensors are used for fusion calculation to obtain high-precision and high-reliability positioning, attitude and speed information with better fault tolerance. This algorithm is generally called a navigation fusion algorithm.

[0116] The solution in this embodiment mainly realizes the effective verification of the navigation fusion algorithm of navigation devices and improves the accuracy of the navigation fusion algorithm.

[0117] Specifically, after outputting the actual flight status parameters to each navigation device of the aircraft, the soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device then performs fusion calculation on the actual flight status parameters through a navigation fusion algorithm to obtain navigation fusion data.

[0118] In other words, this embodiment simulates the actual flight state parameters of the aircraft through a flight simulation unit and introduces a fault injection mechanism. The navigation simulation model uses the data from simulation calculations and fault injection processing as the sensor input data required by the navigation equipment. The navigation equipment performs fusion calculations to effectively verify the navigation fusion algorithm. This can fully test the correctness and durability of the navigation fusion algorithm's calculation data, improve the accuracy of the navigation fusion algorithm, and meet the needs of automated navigation fusion testing by allowing computer-programmed input of flight control commands to the flight control equipment.

[0119] It should be noted that the navigation simulation and signal injection computer described above can be integrated with the host computer on a single computer, or the navigation simulation model described above can be integrated with the host computer on a single computer. This embodiment does not impose any specific limitations on this.

[0120] Based on, but not limited to, the above-described equipment and system architecture, embodiments of the method of the present invention are proposed.

[0121] The execution subject of the method in this embodiment can be a navigation device fusion testing device. This navigation device fusion testing device can be a device independent of the device and capable of data processing, which can be carried on the device in the form of hardware or software. The device can be a smart mobile terminal with data processing function such as a mobile phone or tablet computer, or it can be a fixed device with data processing function (such as an aircraft simulation testing device) or a server, etc. This embodiment takes a simulation testing device as an example. The simulation testing device can be a host computer, a navigation simulation model, etc.

[0122] Specifically, refer to Figure 3 , Figure 3 This is a flowchart illustrating the first embodiment of the navigation device fusion testing method of the present invention.

[0123] like Figure 3 As shown in the figure, this embodiment proposes a navigation device fusion testing method, the method including:

[0124] Step S101: Send flight control commands to the navigation simulation model through the flight control equipment;

[0125] This embodiment can be applied to various scenarios that require verification of navigation device fusion algorithms, such as aircraft and autonomous driving scenarios. This embodiment uses a flying car as an example.

[0126] The navigation device fusion test method in this embodiment is a static in-the-loop flight simulation experiment method for navigation hardware.

[0127] The execution entity of this embodiment can be a host computer, which controls the entire navigation equipment fusion testing process. The main functions of the host computer are, on the one hand, to act as a computer for analyzing experimental results and performing corresponding data comparison and monitoring, and on the other hand, to execute test cases. When executing test cases, it sends flight control commands to the flight control equipment according to the test cases.

[0128] Test cases may include information on the control stick's inputs, such as how the inputs change and how they are executed according to a time sequence. In addition, information such as engine speed, collective pitch, power, and operating status may be sent to the flight control equipment so that the flight control equipment can generate control commands.

[0129] Specifically, as one implementation method, the step of sending flight control commands to the navigation simulation model via the flight control device may include:

[0130] The host computer sends flight control commands to the flight control device, which then calculates the control rate based on the flight control commands and the navigation fusion data or positioning navigation data output by the navigation device, and generates flight control commands that are sent to the navigation simulation model.

[0131] The flight control commands include test case information as described above.

[0132] Step S102: The navigation simulation model performs simulation calculations and fault injection processing according to the flight control commands to obtain the actual flight state parameters of the aircraft.

[0133] In one implementation method, firstly, the flight control command is used to perform simulation calculations based on the navigation simulation model and the aircraft's kinematics and dynamics model to obtain simulated flight state parameters. The simulated flight state parameters include one or more of the following: the aircraft's current speed, attitude, heading, angular velocity, angular acceleration, altitude, acceleration, position, and related system states.

[0134] Then, fault injection processing is performed on the simulated flight state parameters to output the actual flight state parameters of the aircraft. Fault injection processing on the simulated flight state parameters may include one or more of the following: superimposing the same noise onto the simulated flight state parameters, modifying them to measured data under the same operating conditions, or modifying them to abnormal data.

[0135] More specifically, combined Figure 2 As shown, during the overall flight simulation process, the flight control equipment sends flight control commands to bus 3. After the signal acquisition unit acquires the flight control commands from bus 3, it sends them to the flight simulation unit. The flight simulation model in the flight simulation unit calculates the dynamic model according to the rotation speed command to obtain information such as attitude, speed and position, which are used as the simulated flight state parameters of the aircraft.

[0136] Furthermore, in order to achieve the verification effect, if the data output of the flight simulation unit is simply assigned to the sensor data of each navigation device, the sensor data received by the tested navigation device will be the same, thus failing to effectively test the fusion effect. Therefore, in order to realize the difference in sensor data of each navigation device, a fault injection function needs to be added to the navigation simulation and signal injection computer to process the sensor data signals output by the navigation simulation model before entering the signal transmission unit.

[0137] The fault injection function can process each signal individually, either by adding or modifying values. Depending on the desired verification effect, the main processing methods can include the following three:

[0138] The same noise was superimposed on each signal to test the noise filtering effect of the navigation fusion algorithm;

[0139] Modify the sensor data of the navigation device to the measured data under the same operating conditions, and test the consistency between the navigation device output and the measured data.

[0140] For a specific signal from a sensor, modify it to an abnormally increased or decreased value, and test the navigation fusion algorithm's ability to identify and isolate abnormal data.

[0141] Step S103: The actual flight state parameters are output to the navigation device of the aircraft, and the navigation device performs fusion calculation on the actual flight state parameters to obtain navigation fusion data;

[0142] To verify the navigation fusion algorithm of navigation devices, multiple navigation devices can be used, combined with... Figure 2 As shown, each navigation device includes a sensor unit and a computing unit.

[0143] As one implementation method, the navigation device performs fusion calculations on actual flight state parameters to obtain navigation fusion data, which can be achieved as follows:

[0144] The actual flight state parameters output by the navigation simulation model are transmitted to each navigation device of the aircraft via the signal transmission unit. The soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight state parameters through the navigation fusion algorithm to obtain navigation fusion data.

[0145] Specifically, in order to input the sensor data that needs to be fused, a dedicated fusion data bus 2 can be designed to achieve the data input. The data source on bus 2 is the sensor signal source formed by the data collected and processed by the navigation simulation and signal injection computer and the flight simulation unit, and is output to bus 2 through the signal transmission unit.

[0146] It should be noted that this solution allows each navigation device to predefine its own signal input protocol.

[0147] In addition, for testing the navigation fusion algorithm of navigation devices, the navigation software can design a special test mode. In this test mode, the soft switch between the sensor unit and the computing unit in the navigation device to be tested is disconnected (which can be implemented by software). This isolates the navigation device's own sensor data, while the data on the receiving bus 2 is used as the input source of the navigation device's own sensor data.

[0148] During testing, the data on bus 2 is processed by the navigation simulation model and then sent out. A flag signal can be added to the navigation simulation model. This flag signal is used to activate the navigation test mode. This test mode will not be triggered during normal installation. It will only be triggered when the navigation simulation model is connected to bus 2.

[0149] It should also be noted that, in the system architecture of this embodiment, to improve reliability, multiple navigation devices can be set up as needed. These multiple navigation devices can be divided into primary navigation devices, secondary navigation devices, tertiary navigation devices, etc., according to different levels. Among them, the primary navigation device can implement the redundant navigation fusion algorithm. The multi-sensor data source is the data from the sensors of the primary navigation device and the secondary and tertiary navigation devices. The sensor data of the primary navigation device comes from within the primary navigation device, while the sensor data of the secondary and tertiary navigation devices, etc., are sent to bus 2. The primary navigation device receives the data on bus 2 and fuses it to finally obtain the navigation fusion data.

[0150] In other words, when the host computer connects to the navigation equipment to verify the navigation fusion algorithm, the navigation simulation model integrates the attitude, speed, position, and other data transmitted from the flight simulation unit into sensor signals from the main navigation equipment, secondary navigation equipment, and tertiary navigation equipment, and sends them to the bus 2 where the navigation equipment is located. The navigation equipment to be tested enters the data fusion test mode, the soft switch between the sensor unit and the computing unit in the navigation equipment is disconnected, isolating its own sensor data, receiving the backup sensor data from each unit on bus 2, obtaining the navigation fusion data through the navigation fusion algorithm, and sending it to bus 1 to excite the flight control equipment, thereby verifying the overall simulation effect.

[0151] Step S104: Obtain the navigation fusion data output by the navigation device;

[0152] Combination Figure 2 As shown, in one implementation, the host computer can acquire the navigation fusion data output by the navigation device from bus 1 through the signal acquisition unit.

[0153] Step S105: Compare the actual flight state parameters and navigation fusion data to obtain the navigation device fusion test results.

[0154] The host computer obtains the navigation device fusion test results through comparative analysis, thereby judging the accuracy of the navigation fusion algorithm of the navigation device.

[0155] As one implementation method, the host computer compares the data difference between the actual flight state parameters and the navigation fusion data to determine whether the data difference reaches a preset threshold; and / or compares the delay between the actual flight state parameters and the navigation fusion data to determine whether the delay meets a preset delay condition; then, the fusion test result of the navigation device is obtained based on the judgment result.

[0156] Combination Figure 2 As shown, when the navigation device is connected, the attitude, velocity, and position information output by the navigation simulation model are used as the actual values ​​of the aircraft's attitude, velocity, and position information. These values ​​are transmitted to the host computer by the navigation simulation and signal injection computer. At the same time, the signal acquisition unit collects the navigation fusion data output by the main navigation device on bus 1 and inputs it to the host computer. The host computer compares the navigation fusion data output by the main navigation device with the data output by the navigation simulation model and saves them over time. The data can be exported for long-term simulation effect comparison and analysis.

[0157] The host computer records and saves the fusion calculation data transmitted by the signal acquisition unit in real time, as well as the actual flight state parameters output by the navigation simulation model. It can also compare the two sets of data through the time axis, such as the error rate comparison and the delay comparison, and analyze the actual control effect of the flight control, including the command response speed and flight attitude stability. The comprehensive analysis yields the calculation effect of the combined navigation fusion data.

[0158] One implementation method involves determining whether the difference between two sets of data reaches a threshold, thus proving that the test results meet the requirements. The threshold can be set according to the actual situation, as long as it conforms to the actual operating principle.

[0159] The preset delay conditions can depend on system operating conditions, operating cycle, etc.

[0160] In addition, it can also determine whether the trend of data change is within a preset range.

[0161] This embodiment, through the above-described scheme, specifically sends flight control commands to the navigation simulation model via the flight control equipment; the navigation simulation model performs simulation calculations and fault injection processing based on the flight control commands to obtain the actual flight state parameters of the aircraft; the actual flight state parameters are output to the aircraft's navigation equipment, which performs fusion calculations on the actual flight state parameters to obtain navigation fusion data; the navigation fusion data output by the navigation equipment is acquired; and the actual flight state parameters and navigation fusion data are compared to obtain the navigation equipment fusion test results. This scheme uses the data from the navigation simulation model's simulation calculations and fault injection processing as the sensor input data required by the navigation equipment, which then performs fusion calculations to effectively verify the navigation fusion algorithm. This allows for thorough testing of the correctness and durability of the navigation fusion algorithm's calculated data, improving the accuracy of the navigation fusion algorithm. Furthermore, this scheme allows for the programmed input of flight control commands to the flight control equipment via a computer, meeting the requirements for automated navigation fusion testing.

[0162] Furthermore, the method of the embodiments of the present invention may also include the following schemes:

[0163] The navigation fusion data output by the navigation device is input to the flight control device, so that the flight control device can send flight control commands to the navigation simulation model according to the received flight control commands and navigation fusion data, and perform subsequent simulation tests.

[0164] Therefore, a method for verifying navigation flight simulation fusion algorithms was designed. By using the static in-loop of navigation hardware and the hardware in-loop of flight control equipment, the simulation process is used to test and verify the research and development of navigation fusion algorithms.

[0165] Reference Figure 4 , Figure 4 This is a flowchart illustrating the second embodiment of the navigation device fusion testing method of the present invention.

[0166] like Figure 4 As shown in the figure, this embodiment proposes a navigation device fusion testing method, the method including:

[0167] Step S201: Receive flight control commands sent by the flight control equipment;

[0168] Compared to the above Figure 3 In the illustrated embodiment, the execution entity of the method can be a navigation simulation model. The navigation simulation model works in conjunction with a host computer, flight control equipment, and navigation equipment to simulate and test the navigation fusion algorithm of the navigation equipment.

[0169] The main functions of the host computer are, on the one hand, to act as a computer for analyzing experimental results and comparing and monitoring data, and on the other hand, to execute test cases. When executing test cases, it sends flight control commands to the flight control equipment according to the test cases.

[0170] Test cases may include information on the control stick's inputs, such as how the inputs change and how they are executed according to a time sequence. In addition, information such as engine speed, collective pitch, power, and operating status may be sent to the flight control equipment so that the flight control equipment can generate control commands.

[0171] Specifically, as one implementation method, the host computer sends flight control commands to the flight control equipment, which then calculates the control rate based on the flight control commands and the navigation fusion data or positioning navigation data output by the navigation equipment, and generates flight control commands that are sent to the navigation simulation model.

[0172] The navigation simulation model receives flight control commands sent by the flight control equipment.

[0173] The flight control commands include test case information as described above.

[0174] Step S202: Based on the flight control command, perform simulation calculations and fault injection processing to obtain the actual flight state parameters of the aircraft;

[0175] In one implementation method, firstly, the flight control command is used to perform simulation calculations based on the navigation simulation model and the aircraft's kinematics and dynamics model to obtain simulated flight state parameters. The simulated flight state parameters include one or more of the following: the aircraft's current speed, attitude, heading, angular velocity, angular acceleration, altitude, acceleration, position, and related system states.

[0176] Then, fault injection processing is performed on the simulated flight state parameters to output the actual flight state parameters of the aircraft. Fault injection processing on the simulated flight state parameters may include one or more of the following: superimposing the same noise onto the simulated flight state parameters, modifying them to measured data under the same operating conditions, or modifying them to abnormal data.

[0177] More specifically, combined Figure 2 As shown, during the overall flight simulation process, the flight control equipment sends flight control commands to bus 3. After the signal acquisition unit acquires the flight control commands from bus 3, it sends them to the flight simulation unit. The flight simulation model in the flight simulation unit calculates the dynamic model according to the rotation speed command to obtain information such as attitude, speed and position, which are used as the simulated flight state parameters of the aircraft.

[0178] Furthermore, in order to achieve the verification effect, if the data output of the flight simulation unit is simply assigned to the sensor data of each navigation device, the sensor data received by the tested navigation device will be the same, thus failing to effectively test the fusion effect. Therefore, in order to realize the difference in sensor data of each navigation device, a fault injection function needs to be added to the navigation simulation and signal injection computer to process the sensor data signals output by the navigation simulation model before entering the signal transmission unit.

[0179] The fault injection function can process each signal individually, either by adding or modifying values. Depending on the desired verification effect, the main processing methods can include the following three:

[0180] The same noise was superimposed on each signal to test the noise filtering effect of the navigation fusion algorithm;

[0181] Modify the sensor data of the navigation device to the measured data under the same operating conditions, and test the consistency between the navigation device output and the measured data.

[0182] For a specific signal from a sensor, modify it to an abnormally increased or decreased value, and test the navigation fusion algorithm's ability to identify and isolate abnormal data.

[0183] Step S203: The actual flight status parameters are output to the host computer and the navigation device of the aircraft. The navigation device performs fusion calculation on the actual flight status parameters to obtain navigation fusion data, and outputs the navigation fusion data to the host computer so that the host computer can compare the actual flight status parameters and the navigation fusion data to obtain the navigation device fusion test result.

[0184] The navigation simulation model outputs actual flight state parameters to the host computer and the navigation equipment of the aircraft.

[0185] To verify the navigation fusion algorithm of navigation devices, multiple navigation devices can be used, combined with... Figure 2 As shown, each navigation device includes a sensor unit and a computing unit.

[0186] As one implementation method, the navigation device performs fusion calculations on actual flight state parameters to obtain navigation fusion data, which can be achieved as follows:

[0187] The actual flight state parameters output by the navigation simulation model are transmitted to each navigation device of the aircraft via the signal transmission unit. The soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight state parameters through the navigation fusion algorithm to obtain navigation fusion data.

[0188] Specifically, in order to input the sensor data that needs to be fused, a dedicated fusion data bus 2 can be designed to achieve the data input. The data source on bus 2 is the sensor signal source formed by the data collected and processed by the navigation simulation and signal injection computer and the flight simulation unit, and is output to bus 2 through the signal transmission unit.

[0189] It should be noted that this solution allows each navigation device to predefine its own signal input protocol.

[0190] In addition, for testing the navigation fusion algorithm of navigation devices, the navigation software can design a special test mode. In this test mode, the soft switch between the sensor unit and the computing unit in the navigation device to be tested is disconnected (which can be implemented by software). This isolates the navigation device's own sensor data, while the data on the receiving bus 2 is used as the input source of the navigation device's own sensor data.

[0191] During testing, the data on bus 2 is processed by the navigation simulation model and then sent out. A flag signal can be added to the navigation simulation model. This flag signal is used to activate the navigation test mode. This test mode will not be triggered during normal installation. It will only be triggered when the navigation simulation model is connected to bus 2.

[0192] It should also be noted that, in the system architecture of this embodiment, to improve reliability, multiple navigation devices can be set up as needed. These multiple navigation devices can be divided into primary navigation devices, secondary navigation devices, tertiary navigation devices, etc., according to different levels. Among them, the primary navigation device can implement the redundant navigation fusion algorithm. The multi-sensor data source is the data from the sensors of the primary navigation device and the secondary and tertiary navigation devices. The sensor data of the primary navigation device comes from within the primary navigation device, while the sensor data of the secondary and tertiary navigation devices, etc., are sent to bus 2. The primary navigation device receives the data on bus 2 and fuses it to finally obtain the navigation fusion data.

[0193] In other words, when the host computer connects to the navigation equipment to verify the navigation fusion algorithm, the navigation simulation model integrates the attitude, speed, position, and other data transmitted from the flight simulation unit into sensor signals from the main navigation equipment, secondary navigation equipment, and tertiary navigation equipment, and sends them to the bus 2 where the navigation equipment is located. The navigation equipment to be tested enters the data fusion test mode, the soft switch between the sensor unit and the computing unit in the navigation equipment is disconnected, isolating its own sensor data, receiving the backup sensor data from each unit on bus 2, obtaining the navigation fusion data through the navigation fusion algorithm, and sending it to bus 1 to excite the flight control equipment, thereby verifying the overall simulation effect.

[0194] The host computer can acquire the navigation fusion data output by the navigation device from bus 1 through the signal acquisition unit.

[0195] Then, the host computer compares the actual flight state parameters with the navigation fusion data to obtain the navigation device fusion test results, thereby judging the accuracy of the navigation fusion algorithm of the navigation device.

[0196] As one implementation method, the host computer compares the data difference between the actual flight state parameters and the navigation fusion data to determine whether the data difference reaches a preset threshold; and / or compares the delay between the actual flight state parameters and the navigation fusion data to determine whether the delay meets a preset delay condition; then, the fusion test result of the navigation device is obtained based on the judgment result.

[0197] Combination Figure 2 As shown, when the navigation device is connected, the attitude, velocity, and position information output by the navigation simulation model are used as the actual values ​​of the aircraft's attitude, velocity, and position information. These values ​​are transmitted to the host computer by the navigation simulation and signal injection computer. At the same time, the signal acquisition unit collects the navigation fusion data output by the main navigation device on bus 1 and inputs it to the host computer. The host computer compares the navigation fusion data output by the main navigation device with the data output by the navigation simulation model and saves them over time. The data can be exported for long-term simulation effect comparison and analysis.

[0198] The host computer records and saves the fusion calculation data transmitted by the signal acquisition unit in real time, as well as the actual flight state parameters output by the navigation simulation model. It can also compare the two sets of data through the time axis, such as the error rate comparison and the delay comparison, and analyze the actual control effect of the flight control, including the command response speed and flight attitude stability. The comprehensive analysis yields the calculation effect of the combined navigation fusion data.

[0199] One implementation method involves determining whether the difference between two sets of data reaches a threshold, thus proving that the test results meet the requirements. The threshold can be set according to the actual situation, as long as it conforms to the actual operating principle.

[0200] The preset delay conditions can depend on system operating conditions, operating cycle, etc.

[0201] In addition, it can also determine whether the trend of data change is within a preset range.

[0202] This embodiment, through the above-described scheme, specifically receives flight control commands sent by the flight control equipment; based on the flight control commands, performs simulation calculations and fault injection processing to obtain the actual flight state parameters of the aircraft; outputs the actual flight state parameters to a host computer and the aircraft's navigation equipment, where the navigation equipment performs fusion calculations on the actual flight state parameters to obtain navigation fusion data, and outputs the navigation fusion data to the host computer for comparison, obtaining the navigation equipment fusion test results. This scheme uses a navigation simulation model with simulation calculation and fault injection processing data as the sensor input data required by the navigation equipment. The navigation equipment performs fusion calculations, effectively verifying the navigation fusion algorithm of the navigation equipment. This fully tests the correctness and durability of the navigation fusion algorithm's calculated data, improving the accuracy of the navigation fusion algorithm. Furthermore, this scheme allows for the programmed input of flight control commands to the flight control equipment via a computer, meeting the needs of automated navigation fusion testing.

[0203] In addition, such as Figure 5 As shown in the figure, this embodiment of the invention also proposes a navigation device fusion testing apparatus, the apparatus comprising:

[0204] The transmitting module is used to send flight control commands to the navigation simulation model via the flight control equipment;

[0205] The calculation and processing module is used to perform simulation calculations and fault injection processing based on the flight control commands through the navigation simulation model to obtain the actual flight state parameters of the aircraft.

[0206] The output module is used to output the actual flight state parameters to the navigation device of the aircraft, and the navigation device performs fusion calculation on the actual flight state parameters to obtain navigation fusion data;

[0207] The acquisition module is used to acquire the navigation fusion data output by the navigation device;

[0208] The comparison module is used to compare the actual flight state parameters with the navigation fusion data to obtain the navigation device fusion test results.

[0209] The principle and implementation process of navigation device fusion testing in this embodiment are explained in the above embodiments and will not be repeated here.

[0210] In addition, such as Figure 6 As shown in the figure, this embodiment of the invention also proposes a navigation device fusion testing device, characterized in that the device includes:

[0211] The receiving module is used to receive flight control commands sent by the flight control equipment;

[0212] The processing module is used to perform simulation calculations and fault injection processing according to the flight control commands to obtain the actual flight state parameters of the aircraft.

[0213] The output module is used to output the actual flight status parameters to the host computer and the navigation device of the aircraft. The navigation device performs fusion calculation on the actual flight status parameters to obtain navigation fusion data, and outputs the navigation fusion data to the host computer so that the host computer can compare the actual flight status parameters and the navigation fusion data to obtain the navigation device fusion test result.

[0214] The principle and implementation process of navigation device fusion testing in this embodiment are explained in the above embodiments and will not be repeated here.

[0215] Furthermore, this embodiment of the invention also proposes a simulation testing device, characterized in that the simulation testing device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the navigation device fusion testing method as described in the above embodiments.

[0216] Since the fusion test program of this navigation device adopts all the technical solutions of all the aforementioned embodiments when it is executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be repeated here.

[0217] Furthermore, this invention also proposes a computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, which, when executed by a processor, implements the navigation device fusion testing method as described in the above embodiments.

[0218] Since the fusion test program of this navigation device adopts all the technical solutions of all the aforementioned embodiments when it is executed by the processor, it has at least all the beneficial effects brought about by all the technical solutions of all the aforementioned embodiments, which will not be repeated here.

[0219] This invention proposes a navigation device fusion testing method, apparatus, system, device, and storage medium. The method involves sending flight control commands to a navigation simulation model via a flight control device. The navigation simulation model then performs simulation calculations and fault injection processing based on the flight control commands to obtain the actual flight state parameters of the aircraft. These actual flight state parameters are output to the aircraft's navigation device, which performs fusion calculations on them to obtain navigation fusion data. The navigation fusion data output by the navigation device is then acquired. Finally, the actual flight state parameters and the navigation fusion data are compared to obtain the navigation device fusion test result. This solution uses the simulation calculation and fault injection data from the navigation simulation model as the sensor input data required by the navigation device. The navigation device performs fusion calculations, effectively verifying the navigation fusion algorithm. This allows for thorough testing of the correctness and durability of the navigation fusion algorithm's calculated data, improving the accuracy of the navigation fusion algorithm. Furthermore, this solution allows for the programmed input of flight control commands to the flight control device via a computer, meeting the requirements for automated navigation fusion testing.

[0220] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or approach that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or approach. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or approach that includes that element.

[0221] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0222] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, controlled terminal, or network device, etc.) to execute the methods of each embodiment of the present invention.

[0223] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A fusion testing method for navigation devices, characterized in that, The method includes: Send flight control commands to the navigation simulation model via flight control equipment; The actual flight state parameters of the aircraft are obtained by performing simulation calculations and fault injection processing based on the flight control commands through the navigation simulation model. The actual flight status parameters are output to the aircraft's navigation equipment, which then performs fusion calculations on the actual flight status parameters to obtain navigation fusion data. Obtain the navigation fusion data output by the navigation device; The actual flight state parameters and navigation fusion data are compared to obtain the navigation device fusion test results; The navigation devices are multiple, each navigation device including a sensor unit and a computing unit. The step of outputting the actual flight state parameters to the navigation device of the aircraft, and having the navigation device perform fusion calculation on the actual flight state parameters to obtain navigation fusion data includes: The actual flight status parameters are output to each navigation device of the aircraft, and the soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight status parameters through the navigation fusion algorithm to obtain navigation fusion data.

2. The method according to claim 1, characterized in that, The step of sending flight control commands to the navigation simulation model via the flight control equipment includes: Flight control commands are sent to the flight control equipment, which then calculates the control rate based on the flight control commands and the navigation fusion data output by the navigation equipment, and generates flight control commands that are sent to the navigation simulation model.

3. The method according to claim 1, characterized in that, The step of obtaining the actual flight state parameters of the aircraft by performing simulation calculations and fault injection processing based on the flight control commands using the navigation simulation model includes: The navigation simulation model performs simulation calculations based on the flight control commands and the aircraft's kinematics and dynamics models to obtain simulated flight state parameters. These simulated flight state parameters include one or more of the following: the aircraft's current speed, attitude, heading, angular velocity, angular acceleration, altitude, acceleration, position, and related system states. The simulated flight state parameters are subjected to fault injection processing, and the actual flight state parameters of the aircraft are output.

4. The method according to claim 3, characterized in that, The step of performing fault injection processing on the simulated flight state parameters includes: One or more of the following methods can be used to modify the simulated flight state parameters: superimposing the same noise, modifying them to measured data under the same operating conditions, or modifying them to abnormal data.

5. The method according to any one of claims 1-4, characterized in that, The step of comparing the actual flight state parameters and navigation fusion data to obtain the navigation device fusion test results includes: By comparing the data difference between the actual flight state parameters and the navigation fusion data, it is determined whether the data difference reaches a preset threshold; and / or, By comparing the delay between the actual flight status parameters and the navigation fusion data, it is determined whether the delay meets the preset delay conditions; The fusion test results of the navigation device are obtained based on the judgment results.

6. The method according to claim 5, characterized in that, The step of comparing the actual flight state parameters and navigation fusion data to obtain the navigation device fusion test results further includes: Based on the judgment results and analysis of the actual control effect of the flight controller, the calculation effect of the navigation fusion data of the navigation device is obtained through comprehensive analysis.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: The navigation fusion data output by the navigation device is input to the flight control device, so that the flight control device can send flight control commands to the navigation simulation model according to the received flight control commands and navigation fusion data.

8. A fusion testing method for navigation devices, characterized in that, The method includes: Receive flight control commands sent by the flight control equipment; Based on the flight control commands, simulation calculations and fault injection processing are performed to obtain the actual flight state parameters of the aircraft; The actual flight status parameters are output to the host computer and the navigation equipment of the aircraft. The navigation equipment performs fusion calculation on the actual flight status parameters to obtain navigation fusion data, and outputs the navigation fusion data to the host computer so that the host computer can compare the actual flight status parameters and the navigation fusion data to obtain the navigation equipment fusion test results. The navigation devices are multiple, each including a sensor unit and a computing unit. The steps of outputting the actual flight state parameters to the aircraft's navigation device, and having the navigation device perform fusion calculations on the actual flight state parameters to obtain navigation fusion data, include: The actual flight status parameters are output to each navigation device of the aircraft, and the soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight status parameters through the navigation fusion algorithm to obtain navigation fusion data.

9. The method according to claim 8, characterized in that, The steps of performing simulation calculations and fault injection processing based on the flight control commands to obtain the actual flight state parameters of the aircraft include: Based on the flight control commands and combined with the aircraft's kinematics and dynamics model, simulation calculations are performed to obtain simulated flight state parameters. The simulated flight state parameters include one or more of the following: the aircraft's current speed, attitude, heading, angular velocity, angular acceleration, altitude, acceleration, position, and related system states. The simulated flight state parameters are subjected to fault injection processing, and the actual flight state parameters of the aircraft are output.

10. A navigation device fusion testing system, characterized in that, The system includes: a host computer and a navigation simulation model, both of which are connected to flight control equipment and navigation equipment. The host computer is also connected to the navigation simulation model. The host computer is used to send flight control commands to the navigation simulation model through the flight control device, obtain the actual flight state parameters output by the navigation simulation model and the navigation fusion data output by the navigation device, compare the actual flight state parameters and the navigation fusion data to obtain the navigation device fusion test results; The navigation simulation model is used to perform simulation calculations and fault injection processing according to the flight control commands to obtain the actual flight state parameters of the aircraft. The actual flight state parameters are then output to the host computer and the aircraft's navigation equipment. The navigation equipment performs fusion calculations on the actual flight state parameters to obtain navigation fusion data. The navigation devices are multiple, each including a sensor unit and a computing unit. They output the actual flight state parameters to the aircraft's navigation device, which then performs fusion calculations on the actual flight state parameters to obtain navigation fusion data, including: The actual flight status parameters are output to each navigation device of the aircraft, and the soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight status parameters through the navigation fusion algorithm to obtain navigation fusion data.

11. The navigation device fusion testing system according to claim 10, characterized in that, The system further includes: a signal acquisition unit and a signal transmission unit; the navigation simulation model includes a flight simulation unit, a navigation simulation unit, and a signal injection computer, wherein: The signal acquisition unit is connected to the navigation device via a first bus, to the flight control device via a third bus, and to the flight simulation unit and the host computer. It is used to acquire the flight control commands sent by the flight control device and send them to the flight simulation unit, as well as to send the navigation fusion data output by the navigation device to the host computer. The signal transmitting unit is connected to the navigation device via a second bus, and is connected to the flight simulation unit and the host computer via the navigation simulation and signal injection computer. The flight simulation unit is used to perform simulation calculations based on the flight control commands and the aircraft's kinematics and dynamics models to obtain simulated flight state parameters. The navigation simulation and signal injection computer is used to perform fault injection processing on the simulated flight state parameters, output the processed actual flight state parameters of the aircraft to the host computer, and output them to the navigation device through the signal transmission unit.

12. A navigation device fusion testing apparatus, characterized in that, The device includes: The transmitting module is used to send flight control commands to the navigation simulation model via the flight control equipment; The calculation and processing module is used to perform simulation calculations and fault injection processing based on the flight control commands through the navigation simulation model to obtain the actual flight state parameters of the aircraft. The output module is used to output the actual flight state parameters to the navigation device of the aircraft, and the navigation device performs fusion calculation on the actual flight state parameters to obtain navigation fusion data; The acquisition module is used to acquire the navigation fusion data output by the navigation device; The comparison module is used to compare the actual flight state parameters with the navigation fusion data to obtain the navigation device fusion test results; The navigation devices are multiple, each including a sensor unit and a computing unit. The navigation device that outputs the actual flight state parameters to the aircraft performs fusion calculations on the actual flight state parameters to obtain navigation fusion data, including: The actual flight status parameters are output to each navigation device of the aircraft, and the soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight status parameters through the navigation fusion algorithm to obtain navigation fusion data.

13. A navigation device fusion testing apparatus, characterized in that, The device includes: The receiving module is used to receive flight control commands sent by the flight control equipment; The processing module is used to perform simulation calculations and fault injection processing according to the flight control commands to obtain the actual flight state parameters of the aircraft. The output module is used to output the actual flight state parameters to the host computer and the navigation device of the aircraft. The navigation device performs fusion calculation on the actual flight state parameters to obtain navigation fusion data, and outputs the navigation fusion data to the host computer so that the host computer can compare the actual flight state parameters and the navigation fusion data to obtain the navigation device fusion test results. The navigation devices are multiple, each including a sensor unit and a computing unit. They output the actual flight state parameters to the aircraft's navigation device, which then performs fusion calculations on the actual flight state parameters to obtain navigation fusion data, including: The actual flight status parameters are output to each navigation device of the aircraft, and the soft switch between the sensor unit and the computing unit in each navigation device is disconnected to isolate the sensor data of the navigation device itself. The computing unit of each navigation device performs fusion calculation on the actual flight status parameters through the navigation fusion algorithm to obtain navigation fusion data.

14. A simulation testing device, characterized in that, The simulation test equipment includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it implements the navigation device fusion test method as described in any one of claims 1-7 or 8-9.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the navigation device fusion test method as described in any one of claims 1-7 or 8-9.

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