A flight test sensor calibration method, device, equipment and medium

Abstract

The application discloses a flight test sensor calibration method, device, equipment and medium, and relates to the technical field of sensor calibration. The method comprises the following steps: receiving calibration task information; generating procedure instance information based on the calibration task information; generating working memory linked list data based on a control sequence and the calibration task information; running the procedure instance information based on the working memory linked list data to obtain acquisition data; comparing standard data with the acquisition data to obtain a plurality of calibration data; wherein the standard data is data obtained by a standard device; analyzing the plurality of calibration data to obtain a plurality of calibration code values; and calibrating the sensor based on the plurality of calibration code values. Through the technical solution, the calibration data that can be used for calibration can be automatically and more quickly obtained, so that the flight test sensor can be more efficiently calibrated.

Description

Technical Field

[0001] This application relates to the field of sensor calibration technology, and in particular to methods, apparatus, equipment and media for calibrating sensors for flight test. Background Technology

[0002] In the field of flight test, considering the influence of the characteristics of test cables and airborne data acquisition channels on sensor output, the sensors, test cables and airborne data acquisition channels are usually calibrated as a whole. That is, a known non-electrical quantity (such as standard force, displacement, pressure, etc.) is input at the sensor end, and the code value of the corresponding channel of the sensor is obtained at the data acquisition end (or the unified interface of the airborne test system (ADAS)). This results in a series of calibration data or curves. During actual flight tests, the calibration data or calibration curves are used to reconstruct the measured non-electrical quantity parameters.

[0003] However, in the existing technology, the calibration of flight test sensors is carried out manually, which results in low efficiency in the calibration of flight test sensors. Summary of the Invention

[0004] The main purpose of this application is to provide a method, apparatus, equipment and medium for calibrating flight test sensors, aiming to solve the technical problem of low calibration efficiency of flight test sensors in the prior art.

[0005] To achieve the above objectives, the first aspect of this application provides a method for calibrating a flight test sensor, applied to a calibration system, the calibration system including a sensor characteristic parameter library and a standard instrument characteristic parameter library; the method includes:

[0006] Receive calibration task information; wherein, the calibration task information includes calibration range information, the calibration range information is obtained based on sensor characteristic parameters and standard characteristic parameters, the sensor characteristic parameters are obtained based on the sensor characteristic parameter library, and the standard characteristic parameters are obtained based on the standard characteristic parameter library;

[0007] Based on the calibration task information, generate procedure instance information;

[0008] Based on the control sequence and the calibration task information, generate working memory linked list data;

[0009] Based on the working memory linked list data, the procedure instance information is run to obtain the collected data; wherein, the collected data is data collected by the sensor;

[0010] The standard data is compared with the collected data to obtain several calibration data; wherein, the standard data is the data obtained by the standard instrument;

[0011] Parse several calibration data sets to obtain several calibration code values; wherein, one calibration data set corresponds to one calibration code value;

[0012] The sensor is calibrated based on the aforementioned calibration code values.

[0013] Optionally, before the step of receiving calibration task information, the method further includes:

[0014] Obtain the test data from the configuration file; wherein, the test data includes test calibration symbol data;

[0015] Extract sensor characteristic parameters and standard instrument characteristic parameters from the test calibration symbol data that needs to be calibrated;

[0016] Based on the extracted sensor feature parameters and standard instrument feature parameters, the standard instrument communication protocol identifier is obtained;

[0017] Based on the data structure in the standard communication protocol identifier, the requirement data is obtained;

[0018] Based on the aforementioned requirement data, calibration task information is obtained.

[0019] Optionally, generating working memory linked list data based on the control sequence and the calibration task information includes:

[0020] Based on the control sequence and the calibration task information, several working memory data are generated;

[0021] Based on the aforementioned working memory data, a working memory linked list is generated.

[0022] Optionally, the comparison of standard data with the collected data to obtain several calibration data includes:

[0023] The standard data is compared with the collected data to obtain the acquisition error;

[0024] The allowable error is compared with the acquisition error to obtain several calibration data.

[0025] Optionally, comparing the allowable error with the acquisition error to obtain several calibration data includes:

[0026] If the acquisition error is less than the allowable error, the acquired data will be used as calibration data.

[0027] Optionally, calibrating the sensor based on the plurality of calibration code values ​​includes:

[0028] Based on the aforementioned calibration code values, a calibration curve is obtained;

[0029] The sensor is calibrated based on the calibration curve.

[0030] Optionally, obtaining the calibration curve based on the plurality of calibration code values ​​includes:

[0031] The calibration curve can be obtained using the following formula:

[0032] y = a0 + a1x + ... + a n x n

[0033]

[0034] Where m represents the number of calibration samples, x i The output value of the calibration point standard is represented by y. i This represents calibration data, a0…a n All of these represent calibration coefficients.

[0035] Optionally, obtaining the calibration curve based on the plurality of calibration code values ​​includes:

[0036] The calibration accuracy can be obtained using the following formula:

[0037]

[0038]

[0039] Where S represents the standard deviation of the test parameters being calibrated, and Y... FS This represents the full-scale output value of the test parameter being calibrated during flight testing, where A represents the calibration accuracy and σ represents the full-scale output value. t Y represents the overall error. j Indicates the maximum calibration point value. This represents the estimated value of the calibration point.

[0040] Secondly, this application provides a flight test sensor calibration device for use in a calibration system, the calibration system including a sensor characteristic parameter library and a standard instrument characteristic parameter library, the device comprising:

[0041] A receiving module is used to receive calibration task information; wherein, the calibration task information includes calibration range information, the calibration range information is obtained based on sensor characteristic parameters and standard characteristic parameters, the sensor characteristic parameters are obtained based on the sensor characteristic parameter library, and the standard characteristic parameters are obtained based on the standard characteristic parameter library;

[0042] The first generation module is used to generate procedure instance information based on the calibration task information;

[0043] The second generation module is used to generate working memory linked list data based on the control sequence and the calibration task information;

[0044] The execution module is used to run the procedure instance information based on the working memory linked list data to obtain the collected data; wherein, the collected data is data collected by the sensor;

[0045] The comparison module is used to compare the standard data with the collected data to obtain several calibration data; wherein the standard data is the data obtained by the standard instrument.

[0046] A parsing module is used to parse several calibration data to obtain several calibration code values; wherein, one calibration data corresponds to one calibration code value;

[0047] The calibration module is used to calibrate the sensor based on the plurality of calibration code values.

[0048] Thirdly, this application provides a computer device including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the methods described in the embodiments.

[0049] Fourthly, this application provides a computer-readable storage medium storing a computer program, on which a processor executes the computer program to implement the methods described in the embodiments.

[0050] Through the above technical solution, this application has at least the following beneficial effects:

[0051] This application proposes a method, apparatus, device, and medium for calibrating a test sensor during flight testing. The method is applied to a calibration system, which includes a sensor characteristic parameter library and a standard characteristic parameter library. The method involves first receiving calibration task information, including calibration range information obtained based on sensor and standard characteristic parameters. The sensor and standard characteristic parameters are obtained from the sensor and standard characteristic parameter libraries, respectively. Then, based on the calibration task information, a procedure instance is generated. Next, based on the control sequence and the calibration task information, a working memory linked list is generated. Then, based on the working memory linked list, the procedure instance is run to obtain collected data, which is data collected by the sensor. Next, standard data is compared with the collected data to obtain several calibration data sets, which are data obtained by the standard. Then, the several calibration data sets are parsed to obtain several calibration code values, where each calibration data set corresponds to one calibration code value. Finally, the sensor is calibrated based on the several calibration code values. That is, when it is necessary to calibrate the test sensor, the sensor characteristic parameters and standard characteristic parameters are selected based on the calibration task information. The sensor characteristic parameters are obtained from a pre-built sensor characteristic parameter library, and the standard characteristic parameters are obtained from a pre-built standard characteristic parameter library. Then, according to the calibration task information, procedure instance information including start-up, control, acquisition, and shutdown is generated. Then, working memory linked list data is generated according to the control sequence and calibration task information. Then, the procedure instance information is run based on the working memory linked list data to obtain the acquired data of the sensor. Then, the real-time acquired data of the sensor is compared with the standard data obtained by the standard. If the acquired data is within the specified error, the acquired data of the sensor is used as the calibration data. Then, each calibration data is assigned a calibration code value. Finally, the sensor is calibrated according to these calibration code values. In other words, because a standard instrument characteristic parameter library and a sensor characteristic parameter library are pre-built, the required standard instrument characteristic parameters can be obtained more quickly through the standard instrument characteristic parameter library, and the sensor characteristic parameters can be obtained more quickly through the sensor characteristic parameter library. Furthermore, after the sensor collects data from calibration points in real time, it automatically compares this data with the standard data obtained from the standard instrument, and then automatically obtains calibration data that can be used for calibration. Thus, based on the ability to obtain standard instrument and sensor characteristic parameters more quickly, and the ability to automatically and more quickly obtain calibration data that can be used for calibration, the calibration of flight test sensors can be performed more efficiently than manual calibration. Attached Figure Description

[0052] Figure 1This is a schematic diagram of the computer device structure for the hardware operating environment involved in the embodiments of this application;

[0053] Figure 2 This is a flowchart illustrating a flight test sensor calibration method according to an embodiment of this application;

[0054] Figure 3 A schematic diagram of a fault data frame format provided in an embodiment of this application;

[0055] Figure 4 This is a schematic diagram of a flight test sensor calibration device according to an embodiment of this application.

[0056] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0057] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0058] In flight test applications, considering the impact of test cables and airborne data acquisition channel characteristics on sensor output, the sensor, test cable, and airborne data acquisition channel are typically calibrated as a whole system. This involves inputting known non-electrical quantities (such as standard force, displacement, pressure, etc.) to the sensor and acquiring the corresponding channel's code value at the data acquisition end (or the unified interface of the airborne ADAS system). This yields a series of calibration data or curves, which are then used to reconstruct the measured non-electrical parameters during actual flight tests. Because the standard signal generator and the data acquisition unit (data acquisition unit) originate from different manufacturers and use different communication protocols, direct data exchange between them is impossible. Therefore, in flight test applications, manual calibration is still used for sensor system calibration. This involves manually controlling the standard generator to output a series of non-electrical signals (calibration points) point by point. Dedicated data acquisition unit software monitors the output values, and after visual observation and stabilization, the input and output values ​​of the calibration points are manually recorded. After calibration, a calibration point pair is provided, or a calibration curve is fitted using the least squares method. However, manual calibration is inefficient, with limited sample data at calibration points, and the operator's ability to distinguish between different data points and their skill level can affect measurement errors. Furthermore, the relatively independent control systems of each standard instrument cannot meet the new demands for remote centralized calibration. In summary, the current method of manually calibrating flight test sensors results in low efficiency.

[0059] To address the aforementioned technical problems, this application provides a method, apparatus, equipment, and medium for calibrating flight test sensors. Before introducing the specific technical solutions of this application, the hardware operating environment involved in the embodiments of this application will be described first.

[0060] Reference Figure 1 , Figure 1 This is a schematic diagram of the computer device structure of the hardware operating environment involved in the embodiments of this application.

[0061] like Figure 1 As shown, the computer device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard; optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk drive. The memory 1005 may also optionally be a storage device independent of the aforementioned processor 1001.

[0062] Those skilled in the art will understand that Figure 1 The structure shown does not constitute a limitation on the computer device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0063] like Figure 1 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a data storage module, a network communication module, a user interface module, and electronic programs.

[0064] exist Figure 1 In the computer device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the computer device of the present invention can be set in the computer device, and the computer device calls the flight test sensor calibration device stored in the memory 1005 through the processor 1001 and executes the flight test sensor calibration method provided in the embodiment of this application.

[0065] Reference Figure 2Based on the hardware environment of the foregoing embodiments, embodiments of this application provide a flight test sensor calibration method, applied to a calibration system, the calibration system including a sensor characteristic parameter library and a standard instrument characteristic parameter library; the method includes:

[0066] S10: Receive calibration task information; wherein, the calibration task information includes calibration range information, the calibration range information is obtained based on sensor characteristic parameters and standard characteristic parameters, the sensor characteristic parameters are obtained based on the sensor characteristic parameter library, and the standard characteristic parameters are obtained based on the standard characteristic parameter library.

[0067] In practical implementation, the calibration system is a pre-architected system for calibrating sensors, particularly for calibrating sensors used in flight test. The sensor characteristic parameter library within the calibration system is pre-built from a large collection of sensor characteristic parameters, including information such as the model and serial number of multiple sensors. Similarly, the standard instrument characteristic parameter library is pre-built from a large collection of standard instrument parameters, including the model and serial number of multiple standards. Calibration task information refers to the information for completing the flight test sensor calibration task. This information includes calibration range information, which is obtained from the sensor characteristic parameters and standard instrument characteristic parameters. The sensor characteristic parameters are obtained from the aforementioned sensor characteristic parameter library, and the standard instrument characteristic parameters are obtained from the aforementioned standard instrument characteristic parameter library. Therefore, based on the calibration task information, the sensor characteristic parameters and standard instrument characteristic parameters required to complete the calibration task can be obtained. Furthermore, by using a pre-built sensor characteristic parameter library, sensor characteristic parameters can be obtained more quickly, and by using a pre-built standard instrument characteristic parameter library, standard instrument characteristic parameters can be obtained more quickly. Based on the sensor characteristic parameters and standard instrument characteristic parameters, the required sensors and standards can be obtained more quickly and accurately, thereby improving the calibration efficiency of test flight sensors.

[0068] S11: Generate procedure instance information based on the calibration task information.

[0069] In the specific implementation process, the procedure instance information includes start information, control information, acquisition information, and stop information, which means that the start information, control information, acquisition information, and stop information are generated in advance based on the calibration task information. Based on this control information, the automatic acquisition, comparison, and analysis of subsequent related information can be realized. Compared with the manual calibration in the existing technology, this can greatly improve the calibration efficiency of the sensor.

[0070] S12: Based on the control sequence and the calibration task information, generate working memory linked list data.

[0071] In practice, the control sequence is a sequence generated by the calibration system. The protocol type and required fields are obtained through the control sequence. Specifically, based on the control sequence and calibration task information, several working memory data sets are first generated; then, based on these working memory data sets, a working memory linked list is generated. In other words, the generated working memory data sets are combined into a working memory linked list.

[0072] S13: Based on the working memory linked list data, run the procedure instance information to obtain the collected data; wherein, the collected data is the data collected by the sensor.

[0073] In the specific implementation process, based on the data in the working memory linked list, the procedure instance information is executed according to the working memory linked list. After executing the procedure instance information, the data collected by the sensor is obtained. The relevant information of the calibration point is collected by the sensor, such as vibration, temperature, pressure, strain, angle and angular velocity.

[0074] S14: Compare the standard data with the collected data to obtain several calibration data; wherein the standard data is the data obtained by the standard instrument.

[0075] In the specific implementation process, standard data is obtained from a standard instrument, which refers to the theoretical data of the calibration point. Acquisition data is collected in real time by the sensor. Specifically, the standard data is first compared with the acquired data to obtain the acquisition error; then, the allowable error is compared with the acquisition error to obtain several calibration data points. If the acquisition error is less than the allowable error, the acquired data is used as the calibration data. That is, when the data acquired in real time by the sensor is compared with the standard data obtained by the standard instrument, a difference is obtained; this difference is the acquisition error. The acquisition error is compared with the allowable error in real time. When the acquisition error is less than the allowable error, the acquired data can be used as the calibration data. Because the acquired data and standard data, as well as the acquisition error and allowable error, can be automatically compared in real time, the final calibration data used for sensor calibration can be obtained more easily and quickly.

[0076] S15: Parse several calibration data to obtain several calibration code values; wherein, one calibration data corresponds to one calibration code value.

[0077] In the actual implementation process, after obtaining the calibration data, it is necessary to parse the calibration data to obtain the calibration code value, and record the calibration code value. In practical applications, after obtaining the calibration code value, the collected data of that calibration point can be determined.

[0078] S16: Based on the aforementioned calibration code values, calibrate the sensor.

[0079] In the specific implementation process, after obtaining the calibration code values ​​(flight test parameters), the sensor can be calibrated. Specifically, a calibration curve is first obtained based on the aforementioned calibration code values; then, the sensor is calibrated based on the calibration curve.

[0080] More specifically, the calibration curve is obtained using the following formula:

[0081] y = a0 + a1x + ... + a n x n

[0082]

[0083] Where m represents the number of calibration samples, x i The output value of the calibration point standard is represented by y. i This represents calibration data, a0…a n All of these represent calibration coefficients.

[0084] Furthermore, the calibration accuracy is obtained using the following formula:

[0085]

[0086]

[0087] Where S represents the standard deviation of the test parameters being calibrated, and Y... FS This represents the full-scale output value of the test parameter being calibrated during flight testing, where A represents the calibration accuracy and σ represents the full-scale output value. t Y represents the overall error. j Indicates the maximum calibration point value. This represents the estimated value of the calibration point.

[0088] After obtaining the calibration accuracy, a more accurate calibration curve can be obtained. The calibration curve is calculated using the least squares method and can output the highest fourth-order calibration coefficient. The calibration curve can more intuitively reflect the calibration status of the flight test sensor, and can also obtain relevant information more quickly when calibrating the flight test sensor.

[0089] In summary, when calibrating a test sensor for flight testing, sensor characteristic parameters and standard characteristic parameters are selected based on the calibration task information. The sensor characteristic parameters are obtained from a pre-built sensor characteristic parameter library, and the standard characteristic parameters are obtained from a pre-built standard characteristic parameter library. Then, based on the calibration task information, procedure instance information including start-up, control, acquisition, and shutdown is generated. Next, working memory linked list data is generated based on the control sequence and calibration task information. Then, the procedure instance information is run based on the working memory linked list data to obtain the acquired data from the sensor. The real-time acquired data from the sensor is then compared with the standard data obtained from the standard. If the acquired data is within the specified error, the acquired data from the sensor is used as calibration data. Then, each calibration data is assigned a calibration code value, and finally, the sensor is calibrated based on these calibration code values. In other words, because a standard instrument characteristic parameter library and a sensor characteristic parameter library are pre-built, the required standard instrument characteristic parameters can be obtained more quickly through the standard instrument characteristic parameter library, and the sensor characteristic parameters can be obtained more quickly through the sensor characteristic parameter library. Furthermore, after the sensor collects data from calibration points in real time, it automatically compares this data with the standard data obtained from the standard instrument, and then automatically obtains calibration data that can be used for calibration. Thus, based on the ability to obtain standard instrument and sensor characteristic parameters more quickly, and the ability to automatically and more quickly obtain calibration data that can be used for calibration, the calibration of flight test sensors can be performed more efficiently than manual calibration.

[0090] To obtain calibration tasks more quickly and accurately, in some embodiments, the method further includes, before the step of receiving calibration task information: first, acquiring test data from a configuration file; wherein the test data includes test calibration symbol data; then, extracting sensor feature parameters and standard feature parameters for the test calibration symbol data to be calibrated; then, based on the extracted sensor feature parameters and standard feature parameters, obtaining a standard communication protocol identifier; then, based on the data structure in the standard communication protocol identifier, obtaining requirement data; and finally, based on the requirement data, obtaining calibration task information.

[0091] In this embodiment, test data (ADAS data packets) from the ADAS configuration file is acquired. This test data includes IP addresses and ports, test calibration symbol data, flight test parameter frame formats, and data acquisition information. The test calibration symbol data represents an onboard test point, associated with a specific sensor and a specific data acquisition test channel, and can characterize the object being calibrated by a sensor system. Then, through the user interface, the sensor model and number are selected from the sensor information database, and the standard model and number are selected from the standard information database for the flight test parameters to be calibrated. This allows the extraction of sensor and standard characteristic parameters. Based on the characteristic parameters of the selected sensor and standard, the calibration range is calculated, and the standard communication protocol identifier is obtained. The data structure description in the communication protocol is displayed on the user interface, allowing the user to customize the display requirements and obtain the required data. Finally, based on the required data, calibration task information is obtained, including the calibration point dwell time T. s Standard sampling rate f bs Calibration point sequences, etc.

[0092] In some embodiments, to better calibrate flight test sensors, this application also specifically designs an automatic calibration system for flight test sensor systems, such as... Figure 3 As shown, the calibration system includes a sensor information library, a standard information library, a calibration procedure library, an ADAS configuration file, a standard control protocol library (including a standard communication protocol data structure description and a standard control procedure), a procedure library engine, a calibration task state machine module, a standard communication protocol processing function library, an Excel file operation module, an XML file operation module, an ADAS communication interface module, an ADAS data monitoring module, a standard communication interface module, a user display interface module, a log management module, and a task scheduling module.

[0093] The sensor information database includes various sensor models, serial numbers, names, unified serial numbers, types, measurement ranges, response times, adjustment times, and measurement accuracy, etc., in Excel format. It can be maintained or edited directly using a user interface to obtain information about the calibrated sensors.

[0094] The standard instrument information database includes the operating range, response time, and protocol identifiers of various standard instruments' control protocol library. It is an Excel file that can be maintained via a user interface or edited directly to obtain standard instrument information and communication protocol identifiers.

[0095] As shown in Table 1, the calibration procedure library specifies calibration procedures and requirements for commonly used parameter types in flight test, such as parameters of temperature, pressure, vibration, and strain. It specifies the gradient (signal control rate), number of calibration points, number of calibration strokes, calibration point dwell time, standard signal sampling rate, number of calibration point records, and calibration result requirements. The file is in Excel format and can be maintained or edited directly using the user interface. It is used by the mission scheduling module to generate control parameters and transmit them to the procedure library as input.

[0096] Table 1 lists the commonly used parameters for flight testing as specified in the calibration procedure library.

[0097]

[0098] Each flight test mission is an independent ADAS configuration file, including the data acquisition device model, packet multicast IP address and port, and flight test parameter frame format. It is an XML file used by the ADAS communication interface module and ADAS data monitoring module to obtain data parsing parameters.

[0099] Based on the calibration workflow requirements, the standard device control protocol library classifies, summarizes, and combines the scattered standard communication protocols into an ordered control procedure, including the standard device communication protocol data structure description and the standard device control procedure, which is used by the procedure library engine to call when the system triggers the procedure.

[0100] The standard communication protocol data structure description uses an XML file to describe each field name, type, length, processing function, and protocol meaning of the communication protocol in detail, which is used for the configuration and parsing of communication data.

[0101] The standard instrument control procedure decomposes the control logic of the standard instrument and establishes the control procedure based on the abstract description of the standard instrument's communication protocol data structure. The standard instrument control procedure includes two sets of dynamically generated interfaces: the controlled object and the calibration type. It provides user-configurable parameters and four sets of control sub-procedures: start, control, acquisition, and stop. For more complex control protocols, the sub-procedures can be further decomposed to form a control logic decision tree, and key nodes can be displayed on the user interface for user-guided routing. Decomposing the control procedure into four sets of sub-control procedure modules, and then combining them with a state machine for timely invocation during calibration, effectively reduces the design complexity of the entire calibration control procedure and also enhances its versatility.

[0102] The procedure library engine generates control procedure instances based on current user data, working data, standard control protocol library, and standard communication protocol function library. It executes the control procedures assigned by the task scheduling module, receives and processes data returned by the standard, and returns the results to the task scheduling module.

[0103] The calibration task state machine module summarizes the seven states during the calibration process, divided according to the control flow, and the transition relationships between these states. These include start, monitoring start return, control, monitoring control return, acquisition, monitoring acquisition return, and stop. The calibration task transition module is called by the task scheduling module.

[0104] The standard communication protocol processing function library includes processing functions for all communication protocols of various standard devices, which are called by the protocol library engine.

[0105] The Excel file operation module is used to read and write Excel files, and search and modify related information; the XML file operation module is used to read and write XML files, and search and modify related information; the ADAS communication interface module obtains data streams from the collector based on the multicast IP and port in the ADAS configuration file; the ADAS data monitoring module is used for real-time monitoring of ADAS data, and responds when it receives a recording notification from the task scheduling module.

[0106] Record calibration point data.

[0107] The standard communication interface module is used to control the communication between the multi-serial port card and the standard, send standard control commands and receive standard return data. The standard communication interface module can control multiple standards simultaneously through the multi-serial port card.

[0108] The user interface module provides a human-computer interaction parameter setting interface, displays key parameters customized by the user in the standard communication protocol data structure description, and displays the calibration process log for user configuration and calibration process verification.

[0109] The log management module records the calibration process running records during the calibration process.

[0110] The task scheduling module establishes calibration tasks based on user settings and the calibration procedure library; it starts the procedure library engine to generate calibration instances, controls the procedure library engine to process calibration tasks, and receives the processing results from the procedure library engine; it controls state transitions; it notifies the ADAS communication interface module to receive flight test data; it receives the recorded results from the ADAS data monitoring module; and it performs calibration calculations.

[0111] Based on the above calibration system applied to the above calibration method, a specific embodiment is formed as follows: The calibration method includes the following steps:

[0112] S1: The task scheduling module establishes a calibration task.

[0113] S101: The task scheduling module loads the ADAS configuration file and obtains the ADAS data packet IP address and port, flight test parameter symbols, flight test parameter frame format and collector information from the ADAS configuration file.

[0114] The flight test parameter symbol represents an onboard test point, associated with a specific sensor and a specific data acquisition test channel, and can characterize the object calibrated by a sensor system.

[0115] S102: Select the sensor model and number from the sensor information database and the standard model and number from the standard information database for the test parameters to be calibrated by means of the user interface.

[0116] S103: The task scheduling module calculates the calibration range based on the characteristic parameters of the selected sensor and the selected standard, and simultaneously obtains the standard communication protocol identifier. It then displays the data structure description of the communication protocol on the user interface, allowing users to customize the display requirements. It automatically matches the calibration procedure library to obtain the calibration point dwell time T. s Standard sampling rate f bs The calibration point sequence is calculated and the relevant parameters are transmitted to the procedure library engine, entering the S2 process.

[0117] S2: The procedure library engine generates control procedure instances.

[0118] The procedure library engine searches the standard device communication protocol library description library and the standard device communication protocol function library based on the standard device communication protocol identifier input by the task scheduling module, and generates four sets of control procedure instances for startup, control, acquisition and shutdown respectively.

[0119] Based on the standard device communication protocol identifier, the procedure library engine traverses the control sequences in the standard device control procedure library to obtain the protocol type and required fields. It then searches the standard device communication protocol data structure description library to generate command working memory. The engine associates the required fields in the control procedure library with the working memory and fills the calibration point value, control object, calibration type, and other parameters into the corresponding positions through the processing functions agreed upon in the standard device communication protocol data structure description. Unnecessary fields are filled with default values. This process continues until all control sequences have generated working memory. The working memory is then linked into a working memory list. Once ready, the engine notifies the task scheduling module to enter the S3 process.

[0120] S3: The task scheduling module executes control procedure instances according to the control state machine startup procedure library engine.

[0121] The procedure library engine calls the standard communication interface module to execute procedure instances according to the working memory linked list, and feeds back the execution results to the task scheduling module. After the task is completed, it enters a suspended state, waiting for the task scheduling module to restart it. After each acquisition state is completed and the acquisition task has not timed out, the task scheduling module inserts a delay of T. d =1 / f bs The data acquisition process is restarted. When the task scheduling module detects that the error between the acquired data and the calibration point is less than the allowable error δ... b When (i.e., when the requirement is met), at Ts Within a time period, according to the sampling rate f bs Data acquisition tasks are continuously assigned. After each control procedure is completed, the control state is switched according to the state machine, and a new control procedure is started, until all calibration points are processed, and then the procedure library engine stops running.

[0122] After each data acquisition procedure is completed, the task scheduling module initiates an S4 process.

[0123] S4, monitor the output value of the standard.

[0124] The task acquisition module monitors the calibration point data input from the procedure library engine in real time and compares it with the current calibration point. When the detected deviation between the measured value and the calibration point is less than δ... b At that time, prepare to collect test flight parameter values ​​and initiate an S5 process.

[0125] Because the sampling rate of flight test parameters is high (e.g., the sampling rate of vibration parameters is often above 1kHz) and the data volume is large, while the sampling rate of the standard is low (usually 10Hz) and the data volume is small, by comparing the deviation between the measured value of the standard and the calibration point, a valid initial time point for ADAS calibration data is obtained. Data before this time is considered invalid, the ADAS communication interface module does not accept the data, and the ADAS data monitoring module does not perform analysis and processing. This avoids parsing and processing data within invalid time periods, and only parses data within valid time periods, thus saving the overall processing time of the software system.

[0126] S5: Record calibration point data.

[0127] After the task scheduling module meets the requirements based on the standard data, the delay time T is... AD (T AD After adjusting the sensor system time, the ADAS data interface module is started to collect data, the ADAS data monitoring module parses the data, analyzes the data packets output by the collector in real time, and calculates the real-time values ​​of the flight test parameters. Different data processing methods are used for different types of sensors.

[0128] For sensors that output AC signals, such as vibration sensors, there is no constant steady-state value. The previous calibration method involved outputting a standard AC signal from a standard, then connecting the sensor's output to a high-precision voltmeter to directly obtain a stable RMS value. This RMS value was then used to calibrate the data acquisition channel using a standard voltage source, and the two calibration results were combined into a complete calibration curve. Addressing the issue of AC signal output from vibration sensors, the flight test parameters (code values) parsed by the ADAS data monitoring module are directly incorporated into the RMS value calculation. Because the ADAS data acquisition device uses high precision and has low signal distortion, the RMS value is calculated using the following formula:

[0129] Where N = Ts *f s , where f s For the standard signal frequency, S i The real-time sampling time is used to collect the output code value of the acquisition device. The RMS value is used as the output value of the AC signal sensor at the calibration point, which is the vibration output.

[0130] For sensors that output steady-state signals such as pressure and temperature, a set of points should be recorded according to the calibration standard procedure library requirements during the holding time, and the average value should be taken as the calibration point output value.

[0131] S4 and S5 in the method are started and stopped by the task scheduling module according to the control procedure.

[0132] This application adopts a method that directly transforms the vibration-related flight test parameters (code values) parsed from the ADAS data monitoring module into valid values ​​using software, thus solving the problem that vibration-related flight test parameters must be calibrated in segments.

[0133] S5: Calculation of calibration results.

[0134] The system will calculate and output the results required for the following flight test. The results will be displayed to the user through the user interface, and the output will be saved as a calibration report.

[0135] Calibration Curve: The calibration curve is calculated using the least squares method, and can output calibration coefficients of up to the fourth order. The calibration curve formula can be expressed as y = a 0+ a1x+…+a n x n The formula for calculating its coefficient is:

[0136]

[0137] Where m is the number of calibration samples, x i ,y i These represent the output values ​​of the calibration standard and the flight test parameter values, respectively, {a0…a n} represents the calibration coefficient.

[0138] Calibration accuracy:

[0139]

[0140] The overall error of the system S represents the standard deviation of the test parameters for the flight test being calibrated, and Y represents... FS The full-scale output value of the test parameters for the flight test parameters being calibrated.

[0141] In summary, this application is primarily based on a calibration procedure library, a standard instrument control protocol library, a procedure library engine, a calibration task state machine, and a standard instrument communication protocol processing function library. It requires only a small number of parameters to achieve automatic calibration of flight test sensors. Its advantages are as follows:

[0142] (1) The communication protocol data structure and control procedure can be flexibly configured. When a new standard is added to the system, the main program code does not need to be modified. Only the control protocol library needs to be modified, the communication protocol and control procedure of the new standard need to be added, and the processing function needs to be added to the communication protocol control function library.

[0143] (2) The implementation mode of using a procedure library plus a state machine effectively solves the timing problem of standard control.

[0144] (3) Integrate all the standards and ADAS systems into a unified system to realize remote centralized control of the standards. The program library engine can produce multiple running instances and support simultaneous calibration of multiple sensors.

[0145] (4) It supports automatic calibration of both AC and DC signals.

[0146] (5) Compared with traditional manual calibration, it has higher calibration efficiency, more complete sample data, higher calibration accuracy, and less human error.

[0147] In another embodiment, such as Figure 4 As shown, based on the same inventive concept as the foregoing embodiments, embodiments of this application also provide a flight test sensor calibration device, applied to a calibration system, the calibration system including a sensor characteristic parameter library and a standard instrument characteristic parameter library, the device comprising:

[0148] A receiving module is used to receive calibration task information; wherein, the calibration task information includes calibration range information, the calibration range information is obtained based on sensor characteristic parameters and standard characteristic parameters, the sensor characteristic parameters are obtained based on the sensor characteristic parameter library, and the standard characteristic parameters are obtained based on the standard characteristic parameter library;

[0149] The first generation module is used to generate procedure instance information based on the calibration task information;

[0150] The second generation module is used to generate working memory linked list data based on the control sequence and the calibration task information;

[0151] The execution module is used to run the procedure instance information based on the working memory linked list data to obtain the collected data; wherein, the collected data is data collected by the sensor;

[0152] The comparison module is used to compare the standard data with the collected data to obtain several calibration data; wherein the standard data is the data obtained by the standard instrument.

[0153] A parsing module is used to parse several calibration data to obtain several calibration code values; wherein, one calibration data corresponds to one calibration code value;

[0154] The calibration module is used to calibrate the sensor based on the plurality of calibration code values.

[0155] It should be noted that each module in the flight test sensor calibration device in this embodiment corresponds one-to-one with each step in the flight test sensor calibration method in the aforementioned embodiment. Therefore, the specific implementation method and the technical effects achieved in this embodiment can be referred to the implementation method of the aforementioned flight test sensor calibration method, and will not be repeated here.

[0156] Furthermore, in one embodiment, this application also provides a computer device, the computer device including a processor, a memory, and a computer program stored in the memory, the computer program being executed by the processor to implement the methods in the foregoing embodiments.

[0157] In addition, in one embodiment, this application also provides a computer storage medium storing a computer program that is executed by a processor to implement the methods described in the foregoing embodiments.

[0158] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or it may be a device including one or any combination of the above-mentioned memories. The computer may be a variety of computing devices, including smart terminals and servers.

[0159] In some embodiments, executable instructions may take the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a standalone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0160] As an example, executable instructions may, but do not necessarily, correspond to files in a file system. They may be stored as part of a file that holds other programs or data, for example, in one or more scripts in a Hyper Text Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple collaborating files (e.g., a file that stores one or more modules, subroutines, or code sections).

[0161] As an example, executable instructions can be deployed to execute on a single computing device, or on multiple computing devices located in one location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network.

[0162] 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 system 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 system. 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 system that includes that element.

[0163] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0164] 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 this application, in essence, 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 read-only memory / random access memory, magnetic disk, optical disk) and includes several instructions to cause a multimedia terminal device (which may be a mobile phone, computer, television receiver, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0165] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for calibrating a test sensor during flight testing, characterized in that, The method is applied to a calibration system, which includes a sensor characteristic parameter library and a standard instrument characteristic parameter library; the method includes: Obtain test data from the configuration file; wherein the test data includes test calibration symbol data; extract sensor feature parameters and standard feature parameters for the test calibration symbol data to be calibrated; based on the extracted sensor feature parameters and standard feature parameters, obtain the standard communication protocol identifier; based on the data structure in the standard communication protocol identifier, obtain the requirement data; based on the requirement data, obtain calibration task information; Receive calibration task information; wherein, the calibration task information includes calibration range information, the calibration range information is obtained based on sensor characteristic parameters and standard characteristic parameters, the sensor characteristic parameters are obtained based on the sensor characteristic parameter library, and the standard characteristic parameters are obtained based on the standard characteristic parameter library; Based on the calibration task information, generate procedure instance information; Based on the control sequence and the calibration task information, generate working memory linked list data; Based on the working memory linked list data, the procedure instance information is run to obtain the collected data; wherein, the collected data is data collected by the sensor; The standard data is compared with the collected data to obtain several calibration data; wherein, the standard data is the data obtained by the standard instrument; Parse several calibration data sets to obtain several calibration code values; wherein, one calibration data set corresponds to one calibration code value; The sensor is calibrated based on the aforementioned calibration code values.

2. The flight test sensor calibration method as described in claim 1, characterized in that, The step of generating working memory linked list data based on the control sequence and the calibration task information includes: Based on the control sequence and the calibration task information, several working memory data are generated; Based on the aforementioned working memory data, a working memory linked list is generated.

3. The flight test sensor calibration method as described in claim 1, characterized in that, The step of comparing the standard data with the collected data to obtain several calibration data includes: The standard data is compared with the collected data to obtain the acquisition error; The allowable error is compared with the acquisition error to obtain several calibration data.

4. The flight test sensor calibration method as described in claim 3, characterized in that, The step of comparing the allowable error with the acquisition error to obtain several calibration data includes: If the acquisition error is less than the allowable error, the acquired data will be used as calibration data.

5. The flight test sensor calibration method as described in claim 1, characterized in that, The calibration of the sensor based on the plurality of calibration code values ​​includes: Based on the aforementioned calibration code values, a calibration curve is obtained; The sensor is calibrated based on the calibration curve.

6. The flight test sensor calibration method as described in claim 5, characterized in that, The step of obtaining the calibration curve based on the plurality of calibration code values ​​includes: The calibration curve can be obtained using the following formula: in, Indicates the number of calibration samples. This indicates the output value of the calibration point standard. Indicates calibration data. … All of these represent calibration coefficients.

7. The flight test sensor calibration method as described in claim 5, characterized in that, The step of obtaining the calibration curve based on the plurality of calibration code values ​​includes: The calibration accuracy can be obtained using the following formula: in, This indicates the standard deviation of the test parameters being calibrated during flight testing. This represents the full-scale output value of the test parameters being calibrated during flight testing. Indicates calibration accuracy. Indicates the overall error. .

8. A flight test sensor calibration device, characterized in that, Applied to a calibration system, the calibration system including a sensor characteristic parameter library and a standard instrument characteristic parameter library, for implementing the flight test sensor calibration method as claimed in claim 1, the apparatus comprising: A receiving module is used to acquire test data from a configuration file; wherein the test data includes test calibration symbol data; extract sensor feature parameters and standard feature parameters for the test calibration symbol data to be calibrated; obtain a standard communication protocol identifier based on the extracted sensor feature parameters and standard feature parameters; obtain requirement data based on the data structure in the standard communication protocol identifier; obtain calibration task information based on the requirement data; and receive the calibration task information; wherein the calibration task information includes calibration range information, the calibration range information being obtained based on sensor feature parameters and standard feature parameters, the sensor feature parameters being obtained based on the sensor feature parameter library, and the standard feature parameters being obtained based on the standard feature parameter library. The first generation module is used to generate procedure instance information based on the calibration task information; The second generation module is used to generate working memory linked list data based on the control sequence and the calibration task information; The execution module is used to run the procedure instance information based on the working memory linked list data to obtain the collected data; wherein, the collected data is data collected by the sensor; The comparison module is used to compare the standard data with the collected data to obtain several calibration data; wherein the standard data is the data obtained by the standard instrument. A parsing module is used to parse several calibration data to obtain several calibration code values; wherein, one calibration data corresponds to one calibration code value; The calibration module is used to calibrate the sensor based on the plurality of calibration code values.

9. A computer device, characterized in that, The computer device includes a memory and a processor, wherein the memory stores a computer program and the processor executes the computer program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.

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