An experimental flight test platform suitable for robot pilots

Abstract

The present invention relates to the field of aviation test flight technology, and discloses a test flight platform suitable for robot pilots, which is formed by modifying a retired aircraft, that is, removing some mechanical components, some electrical components and some radio components in the retired aircraft. A flight control subsystem, a measurement and control subsystem, an electrical subsystem and a ground test subsystem are installed. The flight control subsystem includes an optical fiber attitude and heading, an atmospheric data computer, a flight control computer, an elevator servo, an aileron servo, a steering servo, auxiliary equipment and a throttle motor. The optical fiber attitude and heading are connected to the flight control computer for two-way communication; the ground test subsystem is connected to the flight control computer for two-way communication, and is used to send route information and initial parameters to the flight control computer, and receive the working status information of each device included in the retired aircraft, the information cross-linking status of the flight control subsystem and other subsystems, and the binding parameters. The present invention has the advantages of high technical feasibility, low cost, and strong scalability.

Description

Technical Field

[0001] The invention relates to the technical field of aviation test and flight testing, and in particular to a test and flight testing platform suitable for a robot pilot. Background Art

[0002] With the rapid development of robot technology, robots with the ability to fly aircraft will soon be available. Before such robots can actually fly aircraft, they need to undergo various ground tests and assessments on mature aircraft test and flight test platforms. When conditions are ripe, the robots will drive the flight test platforms to conduct flight test verification work, so as to confirm that the robots have the ability to independently fly aircraft before they can be applied and promoted, so as to reduce safety risks in the robot development process and improve development efficiency.

[0003] A robot pilot flying an airplane should have the following qualities: its external dimensions should be basically the same as those of an adult sitting position, so that it can be installed in the cockpit; it should have visual and auditory acquisition, recognition, analysis, and judgment capabilities; it should have the ability to perceive three-dimensional position, attitude, speed, angular velocity, and overload, and use them for decision-making, judgment, and control; it should have the same hand and foot operating capabilities as humans, and be installed in the cockpit of a manned aircraft. It should have a certain degree of analysis, judgment, and decision-making capabilities of a pilot, and be able to complete the pilot's actions such as pushing and retracting the throttle, controlling the rudders, and operating special task buttons.

[0004] The safe flight and precise control of a robot pilot flying an aircraft are extremely important. Therefore, it is very necessary to build a test flight platform suitable for robot pilots. However, the prior art does not disclose such a test flight platform suitable for robot pilots. Summary of the invention

[0005] The purpose of the present invention is to provide a test flight platform suitable for robot pilots, which has the advantages of high technical feasibility, low cost, and strong scalability, and can fill the gap in the prior art that there is no such test flight platform suitable for robot pilots.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The test flight platform is formed by modifying a retired aircraft, that is, removing some mechanical components, some electrical components and some radio components in the retired aircraft that hinder the installation of the robot pilot; and installing a flight control subsystem, a measurement and control subsystem, an electrical subsystem and a ground test subsystem;

[0008] The flight control subsystem includes an optical fiber attitude and heading, an atmospheric data computer, a flight control computer, an elevator servo, an aileron servo, a steering servo, auxiliary equipment and a throttle motor; the optical fiber attitude and heading are bidirectionally connected to the flight control computer for sending flight parameters to the flight control computer, the flight parameters at least including longitude, latitude, altitude, northeast celestial speed, pitch angle, roll angle, true heading, pitch rate, roll rate and yaw rate; the atmospheric data computer receives total and static pressure and total temperature resistance signals, obtains atmospheric parameters after solving, the atmospheric parameters at least including pressure altitude, pressure altitude change rate, true airspeed and indicated airspeed; and sends the atmospheric parameters to the flight control computer; the flight control computer solves the control law after receiving the flight parameters and atmospheric parameters, outputs a control signal, and uses the control signal to control the elevator servo, aileron servo and steering servo to realize the control of the flight attitude of the retired aircraft, controls the throttle motor to realize the control of the engine fuel intake, and controls the auxiliary equipment to realize the change of the state of the retired aircraft;

[0009] The flight control computer is also used to receive remote control instructions from the measurement and control subsystem. When receiving the control authority switching instruction, it can realize the connection and disconnection of the elevator servo, aileron servo, direction servo and throttle motor of the retired aircraft, so as to realize the control of the retired aircraft by the test flight platform itself or the control of the retired aircraft by the robot pilot; at the same time, the flight control computer transmits the received atmospheric parameters to the measurement and control subsystem in real time, and the measurement and control subsystem transmits the atmospheric parameters to the ground test subsystem for the command personnel to control the flight status of the aircraft;

[0010] The electrical subsystem is configured with power supply cables, switches, distribution boxes and batteries according to the installation locations and power requirements of the flight control subsystem and the measurement and control subsystem;

[0011] The ground test subsystem is connected to the flight control computer in a two-way communication manner, and is used to send route information and initial parameters to the flight control computer, receive working status information of each device included in the retired aircraft, information cross-linking status between the flight control subsystem and other subsystems, and binding parameters; the other subsystems include a mechanical subsystem composed of unremoved mechanical components, an electrical subsystem and an engine subsystem included in the retired aircraft; the binding parameters include at least route data, take-off point coordinates, initial field height, and recovery field height.

[0012] As a possible implementation method, the control law includes a reset state control law, a takeoff angle establishment control law, a takeoff segment control law, a climb-descent-coordinated turn control law, and a level flight-coordinated turn control law.

[0013] As a possible implementation method, the reset state control law is specifically:

[0014] ;

[0015] The control law for take-off angle is as follows:

[0016] ;

[0017] The control law for the takeoff phase is the same as the control law for the climb-descent-coordinated turn, specifically:

[0018] ;

[0019] The specific control law for level flight-coordinated turn is:

[0020] ;

[0021] in, is the aileron rudder deflection angle; is the rudder deflection angle; is the elevator deflection angle; is the pitch angle; is the given amount of longitudinal attitude; is the pitch angle rate; is the tilt angle; is the given amount of lateral attitude; is the tilt angle rate; is the relative yaw angle; is the yaw angular rate; is the height difference; is the rate of change of height; is the control coefficient and is a constant.

[0022] As a possible implementation method, the elevator servo, aileron servo and rudder servo are added to the transmission process of the mechanical control system, so that the control stick, pedals and the elevator servo, aileron servo and rudder servo can all control the control surfaces in parallel.

[0023] As a possible implementation method, a throttle motor is added between the throttle handle and the engine fuel intake transmission system included in the retired aircraft, so that the throttle handle and the throttle motor can control the engine fuel intake in parallel.

[0024] As a possible implementation, the flight control computer includes a CPU board, a program memory, a data memory, an analog / frequency signal processor, an A / D sampling board, a D / A output amplifier, a discrete input optocoupler isolator, a DI input interface board, a DO output interface board, a DC-DC power supply and a multi-serial port expansion;

[0025] Among them, the program memory and the data memory are configured in the CPU board, the A / D sampling board receives the flight parameters and atmospheric parameters processed by the analog / frequency processor and writes them into the data memory, and at the same time, the discrete quantity parameters are written into the data memory through the DI input interface board; the control solution rate model is configured in the program memory, and the control signal is obtained based on the flight parameters, atmospheric parameters and discrete quantity parameters. The control signal is sent to the elevator servo, aileron servo, and direction servo through the D / A output amplifier, and at the same time, it is sent to the throttle motor and auxiliary equipment through the DO output interface board.

[0026] As a possible implementation, the flight control computer performs the following steps:

[0027] S10. Power on, self-check and initialize, and enter a solution cycle;

[0028] S11. Serial port data reception processing;

[0029] S12. Analog input acquisition;

[0030] S13. Discrete input acquisition;

[0031] S14. Remote control command reception and processing;

[0032] S15. Navigation information and flight parameter management;

[0033] S16. Control law solution;

[0034] S17. Control the elevator servo, aileron servo, rudder servo, throttle motor, and retractable landing gear through analog and discrete outputs;

[0035] S18. Send the solved data back to the ground test subsystem through the measurement and control subsystem.

[0036] As a possible implementation method, the base, fiber optic attitude and heading, atmospheric data computer, distribution box, battery, measurement and control subsystem airborne station and antenna required for the flight control computer are installed in the front cabin; the braking pneumatic valve and brake solenoid valve are installed in the lower equipment cabin, and the supporting cables are fixed and tied.

[0037] As a possible implementation method, the measurement and control subsystem includes a base station, an airborne station, an antenna feeder and a measurement and control computer;

[0038] The measurement and control computer receives the instructions and converts the codes, then transmits the converted codes to the airborne station through the base station and the antenna feed line. The airborne station decodes the signals and sends them to the flight control computer.

[0039] As a possible implementation method, the internal data of the flight control computer is encoded according to a preset rule and sent to the airborne station. The airborne station converts the signal and sends it through the antenna feed line. The base station antenna feed line decodes the signal after receiving it, and displays the internal data of the flight control subsystem on the measurement and control computer, thereby realizing the feedback and real-time display of telemetry data.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] 1. The test flight platform provided by the present invention is formed by modifying a retired aircraft. The layout positions and functions of the original joystick, throttle handle, various instruments, switches, etc. inside the cockpit of the test flight platform remain unchanged, which can better maintain the consistency of the test flight platform for robot pilots and retired aircraft.

[0042] 2. The test flight platform provided by the present invention has the functional performance of fully autonomous take-off, lift-off, cruising, maneuvering, and return landing, which is convenient for carrying out various ground test and assessment work thereon and can meet the test flight requirements of robot pilots.

[0043] 3. The test flight platform provided by the present invention and the robot pilot's authority to control the aircraft's control surfaces and throttle can be switched with each other, which has high flexibility and can ensure the robot pilot's control technology verification and safety of the test flight platform.

[0044] 4. The test flight platform provided by the present invention has the advantages of high technical feasibility, low cost, strong scalability, etc., which fills the gap in the prior art that there is no such test flight platform suitable for robot pilots. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0046] Figure 1 Schematic diagram of each module of the flight control subsystem in an embodiment of the present invention;

[0047] Figure 2 is a schematic diagram of the structure of a flight control computer in an embodiment of the present invention;

[0048] Figure 3 is a flowchart of the flight control computer software execution instructions in an embodiment of the present invention;

[0049] Figure 4 This is a diagram showing the locations and installation of the main equipment of a certain type of aircraft in an embodiment of the present invention.

[0050] Reference numerals

[0051] 1- flight control computer, 2- hub, 3- fiber optic attitude and heading, 4- airborne platform, 5- atmosphere data computer, 6- antenna feed line, 7- brake air valve, 8- brake solenoid valve, 9- elevator servo, 10- aileron servo, 11- direction servo, 12- left and right throttle motors. DETAILED DESCRIPTION

[0052] In order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and their order is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0053] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0054] In the present invention, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The following at least one item (items) or similar expressions thereof refer to any combination of these items, including any combination of single items (items) or plural items (items). For example, at least one item (items) of a, b or c can mean: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0055] With the rapid development of robotics technology, it is an advanced and technically feasible option for robot pilots with aircraft driving capabilities to fly retired aircraft. The construction of a robot pilot simulation environment is a necessary condition in the development process of robot pilots, which can greatly improve the development efficiency of robot pilots. The present invention provides a test flight platform suitable for robot pilots, which can fill the gap in the existing technology for the construction method of a robot pilot flight simulation environment.

[0056] The test flight platform provided by the present invention is formed by modifying a retired aircraft, that is, removing some mechanical components, some electrical components and some radio components in the retired aircraft that hinder the installation of a robot pilot; installing a flight control subsystem, a measurement and control subsystem, an electrical subsystem and a ground test subsystem;

[0057] Exemplarily, the removed mechanical components include: seats, cover ejection valves, air conditioning bottles and pipes, load sensors, cabin air supply switches and ducts, cover ejection pressure gauges and ducts, cabin pressure supply and anti-load pressure regulating devices, turbine coolers and ducts, cabin pressure regulators, trim plate effect mechanisms, main wheel inertial sensors, horizontal tail load sensors, front landing gear mechanical indicator rods, and main wheel air bleed valves.

[0058] For example, the electrical components removed include: oxygen cylinders, oxygen pipes and connectors, landing lights and cables, cabin altitude pressure difference gauge, load factor gauge, oxygen residual pressure gauge, oxygen flow indicator, YK-3 oxygen switch, oxygen control box, YTQ-1A oxygen regulator, YTQ-2 oxygen pressure ratio regulator, YJY-3 oxygen pressure reducer, oxygen three-way connector, four-way connector, AT-3 automatic arm adjustment device automatic and manual conversion switch and cable, signal electric mechanism manual control switch of the automatic arm adjustment device Switch and cables, power arm signal light inspection button and cables, power arm signal light and cables, power arm position indicator and cables, temperature control machine and cabin temperature control conversion switch and cables, tail guard and its circuit automatic protection switch power supply, power arm automatic adjustment device circuit automatic protection switch and cables, communication radio switch and cables, No. 1 relay box behind the left instrument panel, air pressure sensor emergency switch, left and right wheel release brake inertia sensors and cables, temperature control box and cables, temperature control relay box and cables, power arm control box and cables.

[0059] Exemplarily, the dismantled radio components include: CT-1 command radio transceiver, power supply part, control box and cables, WL-5 radio compass receiver, loop antenna, control box, moisture-proof sand pipe and cables, CL-1 ranging radar transceiver components, inspection connector, ranging components, power supply components, inspection box, XS-5A beacon receiver, antenna, beacon bell, beacon light and cable, YD-3 transponder transceiver, inspection box, explosion control box, inertial contactor, explosion circuit inspection box, adjustment box, signal collection box and cables, air traffic control transponder transceiver, antenna, power synthesizer, control box and cables, WJ-2 tail warning receiver, detector, control box and cables.

[0060] See also Figure 1 and Figure 4The flight control subsystem installed includes a fiber optic attitude and heading 3, an atmospheric data computer 5, a flight control computer 1, an elevator servo 9, an aileron servo 10, a rudder servo 11, auxiliary equipment and a throttle motor; wherein the auxiliary equipment includes: a brake pneumatic valve 7, a brake solenoid valve 8, a landing gear and flap retraction and extension solenoid valve discrete quantity control, and a tracer and signal flare discrete quantity control. The brake pneumatic valve 7 is an actuator for the flight control subsystem to brake; the brake solenoid valve 8 is an actuator for the flight control subsystem to brake and control speed; the landing gear and flap retraction and extension solenoid valve discrete quantity control, and the tracer and signal flare discrete quantity control drive the landing gear and flap retraction and extension solenoid valve, tracer flare, and signal flare through a 27V DC signal output. The fiber optic attitude and heading 3 is connected to the flight control computer 1 in a two-way communication manner, and is used to send flight parameters to the flight control computer 1. The flight parameters include at least longitude, latitude, altitude, northeast celestial velocity, pitch angle, roll angle, true heading, pitch angle rate, roll angle rate and yaw angle rate.

[0061] The atmospheric data computer 5 receives the total and static pressure and total temperature resistance signals, obtains the atmospheric parameters after solving them, and sends the atmospheric parameters to the flight control computer 1. The atmospheric parameters at least include the pressure altitude, the pressure altitude change rate, the true airspeed, and the indicated airspeed.

[0062] See also Figure 2 As a possible implementation, the flight control computer 1 includes a CPU board, a program memory, a data memory, an analog quantity / frequency quantity signal processor, an A / D sampling board, a D / A output amplifier, a discrete quantity input optical coupler isolator, a DI input interface board, a DO output interface board, a DC-DC power supply and a multi-serial port expansion;

[0063] Among them, the program memory and the data memory are configured in the CPU board, the A / D sampling board receives the flight parameters and atmospheric parameters processed by the analog / frequency processor and writes them into the data memory, and at the same time, the discrete quantity parameters are written into the data memory through the DI input interface board; the control solution rate model is configured in the program memory, and the control signal is obtained based on the flight parameters, atmospheric parameters and discrete quantity parameters. The control signal is sent to the elevator servo 9, the aileron servo 10, and the direction servo 11 through the D / A output amplifier, and at the same time, it is sent to the throttle motor and auxiliary equipment through the DO output interface board.

[0064] As a possible implementation method, the base, fiber optic attitude and heading 3, atmospheric data computer 5, distribution box, battery, measurement and control subsystem airborne platform 4 and antenna required by the flight control computer 1 are installed in the front cabin; the braking air valve 7 and brake solenoid valve 8 are installed in the lower equipment cabin, and the supporting cables are fixed and tied.

[0065] After the flight control computer 1 is powered on, it first performs self-check and initialization, and then enters a complete solution cycle after normal operation. A complete solution cycle includes: serial port data reception and processing, analog input quantity acquisition, discrete input quantity acquisition, remote control command reception and processing, navigation solution, and control law solution. After receiving flight parameters and atmospheric parameters, the flight control computer 1 performs control law solution, outputs control signals, and uses control signals to control the elevator servo 9, aileron servo 10, and rudder servo 11 to control the flight attitude of the retired aircraft, control the throttle motor to control the engine fuel intake, and control auxiliary equipment to change the state of the retired aircraft; a new cycle solution starts after the solution time is up. Exemplarily, a solution cycle is set to 20ms.

[0066] The flight control computer 1 is also used to receive remote control instructions from the measurement and control subsystem. When receiving the control authority switching instruction, it can realize the connection and disconnection of the elevator servo 9, aileron servo 10, steering servo 11 and throttle motor of the retired aircraft, so as to realize the control of the aircraft by the test flight platform itself or the control of the aircraft by the robot pilot; at the same time, the flight control computer 1 transmits the received atmospheric parameters to the measurement and control subsystem in real time, and the measurement and control subsystem transmits the atmospheric parameters to the ground test subsystem for the command and control personnel to control the flight status of the aircraft; illustratively, after the flight control computer 1 receives the atmospheric parameters, first, it transmits these data to the measurement and control subsystem in real time, and the measurement and control system transmits them to the ground for the command and control personnel to grasp the flight status of the aircraft; second, the flight control system uses the pressure altitude and the pressure altitude change rate as control input when it is in level flight.

[0067] As a possible implementation, the measurement and control subsystem includes a base station, an airborne station 4, an antenna feed line 6 and a measurement and control computer;

[0068] The measurement and control computer receives the instruction and converts the code, and then transmits the converted code signal to the airborne station 4 through the base station and the antenna feed line 6. The airborne station 4 decodes the signal and sends it to the flight control computer 1.

[0069] As an example, the remote control command data format is 7 bytes fixed length, the undefined part is filled with 0, and there is a checksum. See Table 1 for an example of the remote control command frame structure of the present invention, and see Table 2 for an example of the remote control command code of the present invention:

[0070] Table 1 Remote control command frame structure

[0071]

[0072] Table 2 Remote control command codes

[0073]

[0074] The measurement and control subsystem is used to realize the remote control of the test flight platform, and to transmit the telemetry data of the test flight platform downlink and process and display it on the ground. The measurement and control subsystem includes: a base station, an airborne station 4, an antenna feed line 6 and a measurement and control computer; the ground commander converts and encodes the command through the measurement and control computer software, and transmits the signal to the airborne station 4 antenna feed line 6 through the base station and the antenna feed line 6. The airborne station 4 decodes the signal and sends it to the flight control subsystem, thereby realizing the uplink transmission of the remote control signal. The internal data of the flight control subsystem is encoded according to a certain rule and sent to the airborne station 4. The airborne station 4 converts the signal and sends the signal through the airborne antenna feed line 6. After receiving the signal, the base station antenna feed line 6 decodes it and displays the internal data of the flight control subsystem on the measurement and control computer, thereby realizing the return and real-time display of the telemetry data.

[0075] The electrical subsystem is equipped with power supply cables, switches, distribution boxes and batteries according to the installation locations and power requirements of the flight control subsystem and measurement and control subsystem;

[0076] The ground test subsystem is connected to the flight control computer 1 for two-way communication, and is used to send route information to the flight control computer 1, receive the working status information of each device included in the retired aircraft, the information cross-linking status between the flight control subsystem and other subsystems, and binding parameters; the other subsystems include a mechanical subsystem composed of unremoved mechanical components, an electrical subsystem and an engine subsystem included in the retired aircraft; the binding parameters include at least route data, take-off point coordinates, initial field height, and recovery field height.

[0077] Exemplarily, the ground test subsystem is the first-line rapid ground detection equipment of the flight control subsystem. The detection content includes the working status of each device of the flight control subsystem, the information interconnection between the flight control subsystem and other systems, and the completion of uploading routes, binding parameters and other tasks.

[0078] The test flight platform provided by the present invention has the functional performance of fully autonomous take-off, lift-off, cruising, maneuvering, and return landing, which is convenient for carrying out various ground test and assessment work thereon and can meet the test flight requirements of robot pilots.

[0079] As a possible implementation method, the control law includes a reset state control law, a takeoff angle establishment control law, a takeoff segment control law, a climb-descent-coordinated turn control law, and a level flight-coordinated turn control law.

[0080] As an example, the reset state control law is specifically:

[0081]

[0082] As an example, the control law for the take-off angle is as follows:

[0083]

[0084] As an example, the takeoff control law is the same as the climb-descent-coordinated turn control law, specifically:

[0085]

[0086] As an example, the level flight-coordinated turn control law is as follows:

[0087]

[0088] in, is the aileron rudder deflection angle; is the rudder deflection angle; is the elevator deflection angle; is the pitch angle; is the given amount of longitudinal attitude; is the pitch angle rate; is the tilt angle; is the given amount of lateral attitude; is the tilt angle rate; is the relative yaw angle; is the yaw angular rate; is the height difference; is the rate of change of height; is the control coefficient and is a constant.

[0089] As a possible implementation method, the elevator servo 9, the aileron servo 10, and the rudder servo 11 are installed in the transmission process of the mechanical control system, so that the joystick, the pedals and the elevator servo 9, the aileron servo 10, and the rudder 11 can all control the control surfaces in parallel.

[0090] For example, the elevator servo 9, aileron servo 10, and rudder servo 11 control the three rudder surfaces of the test flight platform according to the control signal of the flight control computer 1. The elevator servo 9, aileron servo 10, and rudder servo 11 can be flexibly connected and disconnected by instructions to realize the switching of the robot pilot's control authority over the three rudder surfaces.

[0091] As a possible implementation method, a throttle motor is added between the throttle handle and the engine fuel intake transmission system included in the retired aircraft, so that the throttle handle and the throttle motor can control the engine fuel intake in parallel.

[0092] For example, two throttle motors are used to push / pull the throttles of the left and right engines respectively, and a DC voltage signal corresponding to the extension length of the throttle motor screw is fed back to form a feedback control loop. The left and right throttle motors 12 can be flexibly connected and disconnected by instructions to realize the switching of the robot pilot's engine throttle control authority.

[0093] The test flight platform provided by the present invention and the robot pilot's authority to control the aircraft's control surfaces and throttle can be switched with each other, which has high flexibility and can ensure the robot pilot's control technology verification and safety of the test flight platform.

[0094] As a possible implementation, see Figure 3 , the flight control computer 1 performs the following steps:

[0095] S10. Power on, self-check and initialize, and enter a solution cycle;

[0096] S11. Serial port data reception processing;

[0097] S12. Analog input acquisition;

[0098] S13. Discrete input acquisition;

[0099] S14. Remote control command reception and processing;

[0100] S15. Navigation information and flight parameter management;

[0101] S16. Control law solution;

[0102] S17. Control the elevator servo 9, aileron servo 10, directional servo 11, throttle motor, retractable landing gear through analog and discrete output;

[0103] S18. Send the solved data back to the ground test subsystem through the measurement and control subsystem.

[0104] As a possible implementation method, the internal data of the flight control computer 1 is encoded according to a preset rule and sent to the airborne station 4. The airborne station 4 converts the signal and sends the signal through the antenna feed line 6. After the base station antenna feed line 6 receives the signal, it decodes it and displays the internal data of the flight control subsystem on the measurement and control computer, thereby realizing the feedback and real-time display of telemetry data.

[0105] As an example, see Table 3, which is a comparison table of internal data and encoding formats of the present invention:

[0106] Table 3 Full frame structure of data frame format

[0107]

[0108]

[0109] During implementation, the flight control computer 1 base, optical fiber attitude 3, atmospheric data computer 5, measurement and control subsystem airborne platform 4 and antenna, brake gas valve 7, brake solenoid valve 8, distribution box and battery are installed in the front cabin and lower equipment cabin, and the supporting cables are fixed and bundled according to the requirements of the maintenance. The original elevator servo 9, aileron servo 10, and steering servo 11 mechanical control system are modified, and the newly added elevator servo 9, aileron servo 10, and steering servo 11 are installed in the transmission process of the mechanical control system, so that the joystick, pedals and three servos can all control the control surface in parallel. The throttle handle to engine fuel intake transmission system is modified, and the throttle motor is installed in it, so that the throttle handle and the throttle motor can control the engine fuel intake in parallel.

[0110] The test flight platform provided by the present invention is formed by modifying a retired aircraft. The layout positions and functions of the original joystick, throttle handle, various instruments, switches, etc. inside the cockpit of the test flight platform remain unchanged, which can better maintain the consistency of the test flight platform for robot pilots and retired aircraft.

[0111] See also Figure 4 , which is a modification of a certain type of aircraft using the present invention. The flight control computer 1, the hub 2 (a signal cross-linking transfer component designed to simplify the cable network), the optical fiber attitude and heading 3, the airborne platform 4, the atmospheric data computer 5, the antenna feed line 6 and the cable are installed in the front cabin, the brake gas valve 7, the brake solenoid valve 8 and the gas circuit and cable are installed in the lower equipment cabin, the elevator servo 9, the aileron servo 10, the direction servo 11 and the matching mechanical operating system and the left and right throttle motors 12 and the matching mechanical operating system are installed behind the cockpit seat, and the seat position reserves space for the installation of the robot pilot. The present invention has the advantages of high technical feasibility, low cost and strong scalability, and fills the gap in the prior art that there is no such test flight platform suitable for robot pilots.

[0112] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the drawings, etc. In the specification, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the specification. Certain measures are recorded in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0113] Although the present invention has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present invention. Accordingly, this specification and the accompanying drawings are merely exemplary illustrations of the present invention and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to include such modifications and variations if they fall within the scope of the present invention and its equivalents.

Claims

1. A test flight platform suitable for robot pilots, characterized in that: The test flight platform is formed by modifying a retired aircraft, that is, removing some mechanical components, some electrical components and some radio components in the retired aircraft that hinder the installation of the robot pilot; and installing a flight control subsystem, a measurement and control subsystem, an electrical subsystem and a ground test subsystem; The flight control subsystem includes an optical fiber attitude and heading, an atmospheric data computer, a flight control computer, an elevator servo, an aileron servo, a steering servo, auxiliary equipment and a throttle motor; the optical fiber attitude and heading are bidirectionally connected to the flight control computer for sending flight parameters to the flight control computer, the flight parameters at least including longitude, latitude, altitude, northeast celestial speed, pitch angle, roll angle, true heading, pitch rate, roll rate and yaw rate; the atmospheric data computer receives total and static pressure and total temperature resistance signals, obtains atmospheric parameters after solving, the atmospheric parameters at least including pressure altitude, pressure altitude change rate, true airspeed and indicated airspeed; and sends the atmospheric parameters to the flight control computer; the flight control computer solves the control law after receiving the flight parameters and atmospheric parameters, outputs a control signal, and uses the control signal to control the elevator servo, aileron servo and steering servo to realize the control of the flight attitude of the retired aircraft, controls the throttle motor to realize the control of the engine fuel intake, and controls the auxiliary equipment to realize the change of the state of the retired aircraft; The flight control computer is also used to receive remote control instructions from the measurement and control subsystem. When receiving the control authority switching instruction, it can realize the connection and disconnection of the elevator servo, aileron servo, direction servo and throttle motor of the retired aircraft, so as to realize the control of the retired aircraft by the test flight platform itself or the control of the retired aircraft by the robot pilot; at the same time, the flight control computer transmits the received atmospheric parameters to the measurement and control subsystem in real time, and the measurement and control subsystem transmits the atmospheric parameters to the ground test subsystem for the command personnel to control the flight status of the aircraft; The electrical subsystem is configured with power supply cables, switches, distribution boxes and batteries according to the installation locations and power requirements of the flight control subsystem and the measurement and control subsystem; The ground test subsystem is connected to the flight control computer in a two-way communication manner, and is used to send route information and initial parameters to the flight control computer, receive working status information of each device included in the retired aircraft, information cross-linking status between the flight control subsystem and other subsystems, and binding parameters; the other subsystems include a mechanical subsystem composed of unremoved mechanical components, an electrical subsystem and an engine subsystem included in the retired aircraft; the binding parameters include at least route data, take-off point coordinates, initial field height, and recovery field height.

2. The test flight platform for robot pilots according to claim 1, characterized in that: The control laws include a reset state control law, a takeoff angle establishment control law, a takeoff segment control law, a climb-descent-coordinated turn control law, and a level flight-coordinated turn control law.

3. The test flight platform suitable for robot pilots according to claim 2, characterized in that: The reset state control law is specifically: ； The control law for take-off angle is as follows: ； The control law for the takeoff phase is the same as the control law for the climb-descent-coordinated turn, specifically: ； The specific control law for level flight-coordinated turn is: ； in, is the aileron rudder deflection angle; is the rudder deflection angle; is the elevator deflection angle; is the pitch angle; is the given amount of longitudinal attitude; is the pitch angle rate; is the tilt angle; is the given amount of lateral attitude; is the tilt angle rate; is the relative yaw angle; is the yaw angular rate; is the height difference; is the rate of change of height; is the control coefficient and is a constant.

4. The test flight platform for robot pilots according to claim 1, characterized in that: The elevator servo, aileron servo and rudder servo are installed in the transmission process of the mechanical control system, so that the control rod, pedals and the elevator servo, aileron servo and rudder servo can all control the control surface in parallel.

5. The test flight platform suitable for robot pilots according to claim 1, characterized in that: A throttle motor is added between the throttle handle and the engine fuel intake transmission system included in the retired aircraft, so that the throttle handle and the throttle motor can both control the engine fuel intake in parallel.

6. The test flight platform for robot pilots according to claim 1, characterized in that: The flight control computer includes a CPU board, a program memory, a data memory, an analog quantity / frequency quantity signal processor, an A / D sampling board, a D / A output amplifier, a discrete quantity input optical coupler isolator, a DI input interface board, a DO output interface board, a DC-DC power supply and a multi-serial port expansion; The program memory and data memory are configured in the CPU board, the A / D sampling board receives the flight parameters and atmospheric parameters processed by the analog / frequency processor and writes them into the data memory, and at the same time, the discrete quantity parameters are written into the data memory via the DI input interface board; the control solution rate model is configured in the program memory, and the control signal is obtained based on the flight parameters, atmospheric parameters and discrete quantity parameters. The control signal is sent to the elevator servo, aileron servo, and direction servo through the D / A output amplifier, and at the same time, it is sent to the throttle motor and auxiliary equipment through the DO output interface board.

7. The test flight platform for robot pilots according to claim 6, characterized in that: The flight control computer performs the following steps: S10. Power on, self-check and initialize, and enter a solution cycle; S11. Serial port data reception processing; S12. Analog input acquisition; S13. Discrete input acquisition; S14. Remote control command reception and processing; S15. Navigation information and flight parameter management; S16. Control law solution; S17. Control the elevator servo, aileron servo, rudder servo, throttle motor, and retractable landing gear through analog and discrete outputs; S18. Send the solved data back to the ground test subsystem through the measurement and control subsystem.

8. The test flight platform for robot pilots according to claim 1, characterized in that: The base, fiber optic heading and attitude, atmospheric data computer, distribution box, battery, measurement and control subsystem airborne platform and antenna required for the flight control computer are installed in the front cabin; the braking pneumatic valve and brake solenoid valve are installed in the lower equipment cabin, and the supporting cables are fixed and tied.

9. The test flight platform suitable for robot pilots according to claim 1, characterized in that: The measurement and control subsystem includes a base station, an airborne station, an antenna feeder and a measurement and control computer; The measurement and control computer receives the instruction, converts the code, and transmits the signal formed after the conversion code to the airborne station through the base station and the antenna feed line. The airborne station decodes the signal and sends it to the flight control computer.

10. The test flight platform suitable for robot pilots according to claim 9, characterized in that: The internal data of the flight control computer is encoded according to preset rules and sent to the airborne station. The airborne station converts the signal and sends it through the antenna feed line. The base station antenna feed line decodes the signal after receiving it and displays the internal data of the flight control subsystem on the measurement and control computer, thereby realizing the feedback and real-time display of telemetry data.

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