Hardware-in-the-loop test system and method for avionics systems of large fixed-wing unmanned aerial vehicles

Abstract

The present invention provides a hardware-in-the-loop test system and method for avionics equipment of a large fixed-wing unmanned aerial vehicle. The system comprises: a ground control subsystem for sending test instructions for the unmanned aerial vehicle in different flight states; an unmanned aerial vehicle avionics system for performing execution responses in different states; a load execution subsystem for receiving execution responses and performing action execution; an operation monitoring subsystem for real-time monitoring of the operation state of the unmanned aerial vehicle avionics system and the execution result of the load execution subsystem, and comparing the operation state and the execution result with the test instructions sent by the ground control subsystem; and a communication subsystem for communication connection between the subsystems. The present invention can realize multiple function tests on the hardware of the unmanned aerial vehicle avionics system.

Description

[Technical field]

[0001] The present invention relates to the field of unmanned aerial vehicle avionics technology, and in particular to a hardware-in-the-loop test system and method for avionics equipment of a large fixed-wing unmanned aerial vehicle. [Background technology]

[0002] A drone is an unmanned flying device. The avionics system of a drone is the core component of the drone. The drone can be controlled and various actions can be performed through the avionics system of the drone. The avionics system hardware-in-the-loop test platform can simulate the scenarios encountered by the drone in actual flight, and can simulate many scenarios that are difficult to achieve in actual flight. The avionics equipment in the avionics system can realize real-time data interaction, which can reduce development costs and development cycles. The hardware-in-the-loop simulation test platforms that can be implemented on the market for the avionics systems of large fixed-wing drones are usually less reliable, have poor real-time interactivity between avionics equipment, and are not easy to maintain.

[0003] During the development of drones, testing of all drone components is essential. Among them, the hardware-in-the-loop test method has high real-time performance and is usually used to perform functional tests on various avionics equipment in drones. At the same time, due to the long time it takes to copy the installed equipment during the test, development time and cycle will be wasted, while hardware-in-the-loop testing can perform avionics testing on the ground. When the ground control subsystem sends instructions that the drone avionics system cannot recognize or erroneous instructions, the drone avionics system will choose not to execute the erroneous instructions.

[0004] Therefore, it is necessary to study a hardware-in-the-loop test system and method for avionics equipment of large fixed-wing UAVs to address the shortcomings of the prior art and to solve or alleviate one or more of the above problems. [Summary of the invention]

[0005] In view of this, the present invention provides a hardware-in-the-loop test system and method for avionics equipment of a large fixed-wing unmanned aerial vehicle, which can realize multiple function tests on the avionics equipment of the unmanned aerial vehicle.

[0006] On the one hand, the present invention provides a hardware-in-the-loop test system and method for avionics equipment of a large fixed-wing unmanned aerial vehicle, wherein the hardware-in-the-loop test system comprises:

[0007] The ground control subsystem is used to send test instructions about the UAV in different flight states;

[0008] The UAV avionics system is used to parse the test instructions and perform execution responses in different states according to the parsing results;

[0009] The load execution subsystem is used to receive the execution response and perform the action;

[0010] The operation monitoring subsystem is used to monitor the operation status of the UAV avionics system and the execution results of the load execution subsystem in real time, and compare the operation status and execution results with the test instructions sent by the ground control subsystem;

[0011] A communication subsystem, used for receiving the test instruction and sending it to the UAV avionics system and the operation monitoring subsystem, and sending the operation status of the UAV avionics system and the execution result of the load execution subsystem to the operation monitoring subsystem;

[0012] The communication subsystem is connected to the ground control subsystem, the UAV avionics system and the operation monitoring subsystem at the same time, and the load execution subsystem is connected to the UAV avionics system and the communication subsystem at the same time.

[0013] According to the above aspects and any possible implementation, an implementation is further provided, wherein the test instruction includes a control instruction and an operating condition instruction, wherein;

[0014] The control instructions include action instructions and execution sequence instructions, wherein the execution sequence instructions are used to control the execution sequence of the action instructions, and the action instructions are used for the drone to perform actions;

[0015] The operating condition instructions are used to feedback one or more basic flight conditions of the UAV.

[0016] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the action instructions include: executing an instruction for the drone to taxi on the ground, executing an instruction for the drone to take off, executing an instruction for the drone to switch posture in the air, executing an instruction for the drone to land, and executing an instruction for the drone to brake.

[0017] According to the aspects described above and any possible implementation methods, an implementation method is further provided, wherein the basic flight conditions of the UAV include a taxiing state, a take-off state, an aerial attitude state, a landing state, and a braking state.

[0018] According to the aspects described above and any possible implementation method, an implementation method is further provided, wherein the drone avionics system and the load execution subsystem are connected via serial port communication.

[0019] As described above and any possible implementation, a further implementation is provided, wherein the ground control subsystem, UAV avionics system, load execution subsystem and operation monitoring subsystem are integrated on the same ground platform.

[0020] According to the aspects described above and any possible implementation methods, an implementation method is further provided, wherein the UAV avionics system is UAV avionics equipment.

[0021] According to the aspects described above and any possible implementation method, there is further provided an implementation method, wherein the ground control subsystem is provided with a human-computer interaction device.

[0022] According to the above aspects and any possible implementation manner, an implementation manner is further provided, wherein the communication subsystem is provided with a data receiving device and a data sending device.

[0023] According to the above aspects and any possible implementation, a hardware-in-the-loop test method for avionics equipment of a large fixed-wing UAV is further provided, which is implemented by the hardware-in-the-loop test system, and the hardware-in-the-loop test method includes the following steps:

[0024] S1: The ground control subsystem sends test instructions about the UAV in different flight states;

[0025] S2: The communication subsystem receives the test command and sends it to the UAV avionics system and the operation monitoring subsystem;

[0026] S3: UAV avionics system: parse the test instructions and perform execution responses in different states according to the parsing results;

[0027] S4: The load execution subsystem receives the execution response and performs the action;

[0028] S5: The communication subsystem sends the operating status of the UAV avionics system and the execution result of the load execution subsystem to the operation monitoring subsystem;

[0029] S6: The operation monitoring subsystem monitors the operation status of the UAV avionics system and the execution results of the load execution subsystem in real time, and compares the operation status and execution results with the test instructions sent by the ground control subsystem.

[0030] Compared with the prior art, the present invention can achieve the following technical effects:

[0031] 1): The present invention can realize real-time data interaction, reduce development costs, shorten development cycles, etc.;

[0032] 2): The present invention can avoid the problem of too long copying time of the installation equipment, which wastes the research and development time and cycle;

[0033] 3): The present invention can solve in advance the problem that the ground control system sends instructions that cannot be recognized by the UAV avionics system or wrong instructions.

[0034] Of course, any product implementing the present invention does not necessarily need to achieve all of the above-mentioned technical effects at the same time.

Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 It is an application diagram of hardware-in-the-loop testing of an unmanned aerial vehicle avionics system according to an embodiment of the present invention;

[0037] Figure 2 It is a flow chart of hardware-in-the-loop testing of an avionics system of a drone in one embodiment of the present invention. [Specific implementation method]

[0038] In order to better understand the technical solution of the present invention, the embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0039] It should be clear that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0041] The present invention provides a hardware-in-the-loop test system and method for avionics equipment of a large fixed-wing unmanned aerial vehicle, wherein the hardware-in-the-loop test system comprises:

[0042] The ground control subsystem is used to send test instructions about the UAV in different flight states;

[0043] The UAV avionics system is used to parse the test instructions and perform execution responses in different states according to the parsing results;

[0044] The load execution subsystem is used to receive the execution response and perform the action;

[0045] The operation monitoring subsystem is used to monitor the operation status of the UAV avionics system and the execution results of the load execution subsystem in real time, and compare the operation status and execution results with the test instructions sent by the ground control subsystem;

[0046] A communication subsystem, used for receiving the test instruction and sending it to the UAV avionics system and the operation monitoring subsystem, and sending the operation status of the UAV avionics system and the execution result of the load execution subsystem to the operation monitoring subsystem;

[0047] The communication subsystem is connected to the ground control subsystem, the UAV avionics system and the operation monitoring subsystem at the same time, and the load execution subsystem is connected to the UAV avionics system and the communication subsystem at the same time.

[0048] The test instructions include control instructions and working condition instructions, wherein;

[0049] The control instructions include action instructions and execution sequence instructions. The execution sequence instructions are used to control the execution order of the action instructions, and the action instructions are used for the drone to perform actions; the action instructions include: instructions for executing the drone to taxi on the ground, instructions for executing the drone to take off, instructions for executing the drone to switch postures in the air, instructions for executing the drone to land, and instructions for executing the drone to brake.

[0050] The operating condition instruction is used to feedback one or more basic flight conditions of the UAV, which include taxiing state, take-off state, air attitude state, landing state and braking state.

[0051] The UAV avionics system and the load execution subsystem are connected via serial communication. The ground control subsystem, the UAV avionics system, the load execution subsystem and the operation monitoring subsystem are integrated on the same ground platform. The UAV avionics system is a UAV avionics device. The ground control subsystem is provided with a human-computer interaction device. The communication subsystem is provided with a data receiving device and a data sending device.

[0052] The present invention also provides a hardware-in-the-loop testing method for avionics equipment of a large fixed-wing unmanned aerial vehicle, which is implemented by the hardware-in-the-loop testing system. The hardware-in-the-loop testing method includes the following steps:

[0053] S1: The ground control subsystem sends test instructions about the UAV in different flight states;

[0054] S2: The communication subsystem receives the test command and sends it to the UAV avionics system and the operation monitoring subsystem;

[0055] S3: UAV avionics system: parse the test instructions and perform execution responses in different states according to the parsing results;

[0056] S4: The load execution subsystem receives the execution response and performs the action;

[0057] S5: The communication subsystem sends the operating status of the UAV avionics system and the execution result of the load execution subsystem to the operation monitoring subsystem;

[0058] S6: The operation monitoring subsystem monitors the operation status of the UAV avionics system and the execution results of the load execution subsystem in real time, and compares the operation status and execution results with the test instructions sent by the ground control subsystem. The comparison result is the final test result, which can test whether the avionics system can parse and execute test instructions of different states sent by the ground.

[0059] Embodiment 1:

[0060] The present invention provides a hardware-in-the-loop test platform for avionics equipment of large fixed-wing unmanned aerial vehicles. Figure 2 As shown, the test scheme is: when the drone avionics system receives the test instruction sent by the ground control subsystem, it will perform the corresponding action according to the test control instruction, and the (operation monitoring subsystem) operation monitoring device can monitor and display the correctness of the action execution of the drone avionics system in real time. The test control instructions include the control instructions required for the drone to taxi on the ground, the control instructions required for the drone to take off, the control instructions required for the drone to switch postures in the air, the control instructions required for the drone to land, and the instructions required for the drone to brake.

[0061] The embodiment of the present invention provides a hardware-in-the-loop test platform for avionics equipment of a large fixed-wing unmanned aerial vehicle. The test platform can be used for Figure 1 In the application environment shown, the platform includes UAV avionics equipment, communication subsystem, ground control subsystem, load execution subsystem, (operation monitoring subsystem) operation monitoring equipment. The ground control subsystem sends instructions about the UAV in different flight states to the UAV avionics system through the communication subsystem, and the avionics system will respond to different states according to these instructions. The UAV avionics system is connected to the communication subsystem and the (operation monitoring subsystem) operation monitoring equipment. The (operation monitoring subsystem) operation monitoring equipment is real-time and can monitor the operating status of the UAV avionics system in real time, which can improve the hardware-in-the-loop test efficiency of the UAV avionics system.

[0062] The UAV avionics system is a particularly important system on the UAV. Through this system, the aircraft can be controlled to perform various actions. The UAV avionics system communicates with the ground control subsystem through the communication subsystem and receives the UAV control instructions sent by the ground control subsystem;

[0063] The load execution subsystem communicates with the avionics equipment through the serial port. When the avionics system receives the control command sent by the ground control subsystem, the avionics system will send it to the corresponding load execution subsystem according to the command.

[0064] The communication subsystem is a necessary unit for the UAV's avionics equipment to communicate with the ground control subsystem. Through the communication subsystem, information interaction between the ground control subsystem and the UAV's avionics system can be achieved.

[0065] The ground control subsystem can send control instructions for the UAV in different postures, which can enable the UAV avionics system to execute the instructions. The ground operating system can record and save the issued instructions.

[0066] (Operation Monitoring Subsystem) The operation monitoring equipment is responsible for monitoring the operating status of the UAV avionics system and monitoring whether the UAV avionics system receives the correct execution of the instructions sent by the ground control subsystem.

[0067] The above is a detailed introduction to a hardware-in-the-loop test system and method for large fixed-wing UAV avionics equipment provided by the embodiment of the present application. The description of the above embodiment is only used to help understand the method and core idea of ​​the present application; at the same time, for those of ordinary skill in the art, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

[0068] For example, certain words are used in the specification and claims to refer to specific components. Those skilled in the art should understand that hardware manufacturers may use different nouns to refer to the same component. This specification and claims do not use differences in names as a way to distinguish components, but use differences in the functions of components as the criteria for distinction. As mentioned throughout the specification and claims, "including" and "comprising" are open-ended terms, so they should be interpreted as "including / including but not limited to". "Approximately" means that within an acceptable error range, those skilled in the art can solve the technical problem within a certain error range and basically achieve the technical effect. The subsequent description of the specification is a preferred embodiment of the present application, but the description is for the purpose of illustrating the general principles of the present application, and is not used to limit the scope of the present application. The scope of protection of the present application shall be determined by the definition of the attached claims.

[0069] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a product or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a product or system. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the product or system including the elements.

[0070] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0071] The above description shows and describes several preferred embodiments of the present application, but as mentioned above, it should be understood that the present application is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the application concept described herein through the above teachings or the technology or knowledge of the relevant field. The changes and modifications made by those skilled in the art do not deviate from the spirit and scope of the present application, and should be within the scope of protection of the claims attached to the present application.

Claims

1. A hardware-in-the-loop test system for avionics equipment of large fixed-wing unmanned aerial vehicles, characterized in that: The hardware-in-the-loop test system comprises: The ground control subsystem is used to send test instructions about the UAV in different flight states; The UAV avionics system is used to parse the test instructions and perform execution responses in different states according to the parsing results; The load execution subsystem is used to receive the execution response and perform the action; The operation monitoring subsystem is used to monitor the operation status of the UAV avionics system and the execution results of the load execution subsystem in real time, and compare the operation status and execution results with the test instructions sent by the ground control subsystem; A communication subsystem, used for receiving the test instruction and sending it to the UAV avionics system and the operation monitoring subsystem, and sending the operation status of the UAV avionics system and the execution result of the load execution subsystem to the operation monitoring subsystem; The communication subsystem is simultaneously connected to the ground control subsystem, the UAV avionics system and the operation monitoring subsystem, and the load execution subsystem is simultaneously connected to the UAV avionics system and the communication subsystem; The test instructions include control instructions and working condition instructions, wherein; The control instructions include action instructions and execution sequence instructions, wherein the execution sequence instructions are used to control the execution sequence of the action instructions, and the action instructions are used for the drone to perform actions; The operating condition instruction is used to feedback one or more basic flight conditions of the UAV; The action instructions include: instructions for executing the UAV to taxi on the ground, instructions for executing the UAV to take off, instructions for executing the UAV to switch postures in the air, instructions for executing the UAV to land, and instructions for executing the UAV to brake; The basic flight conditions of the UAV include taxiing state, take-off state, aerial attitude state, landing state and braking state; The UAV avionics system and the load execution subsystem are connected via serial port communication; The ground control subsystem, UAV avionics system, load execution subsystem and operation monitoring subsystem are integrated on the same ground platform.

2. The hardware-in-the-loop test system according to claim 1, characterized in that: The UAV avionics system is UAV avionics equipment.

3. The hardware-in-the-loop test system according to claim 1, characterized in that: The ground control subsystem is provided with a human-computer interaction device.

4. The hardware-in-the-loop test system according to claim 1, characterized in that: The communication subsystem is provided with a data receiving device and a data sending device.

5. A hardware-in-the-loop test method for avionics equipment of a large fixed-wing unmanned aerial vehicle, implemented by the hardware-in-the-loop test system according to any one of claims 1 to 4, characterized in that: The hardware-in-the-loop testing method comprises the following steps: S1: The ground control subsystem sends test instructions about the UAV in different flight states; S2: The communication subsystem receives the test command and sends it to the UAV avionics system and the operation monitoring subsystem; S3: UAV avionics system: parse the test instructions and perform execution responses in different states according to the parsing results; S4: The load execution subsystem receives the execution response and performs the action; S5: The communication subsystem sends the operating status of the UAV avionics system and the execution result of the load execution subsystem to the operation monitoring subsystem; S6: The operation monitoring subsystem monitors the operation status of the UAV avionics system and the execution results of the load execution subsystem in real time, and compares the operation status and execution results with the test instructions sent by the ground control subsystem.

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