Automatic test system and method for flight simulation of unmanned aerial vehicle

Abstract

The invention discloses an unmanned aerial vehicle flight simulation automatic test system and method. The system comprises a management subsystem, an execution subsystem, a real-time simulation system and a resource subsystem. The management subsystem is used for sending a test case and a communication protocol to the execution subsystem. The execution subsystem is used for generating a test logic and a simulation instruction based on the test case and the communication protocol, and sending the simulation instruction to the real-time simulation subsystem based on the test logic; the real-time simulation subsystem is used for generating a corresponding simulation function based on the received simulation instruction, performing a simulation test on the test equipment by using the simulation function to obtain test data of the test equipment, and periodically sending the test data to the execution subsystem; and the execution subsystem is also used for analyzing the received test data based on the test logic to obtain a verification result of the tested equipment. The invention aims to solve the technical problem that the test efficiency of the unmanned aerial vehicle is relatively low.

Description

Technical Field

[0001] The present application relates to the field of flight simulation technology, and in particular to an automatic test system and method for unmanned aerial vehicle flight simulation. Background Art

[0002] UAV flight simulation is the use of computer simulation technology to simulate and evaluate the flight process of UAVs. That is, the flight dynamics of UAVs under various environmental conditions can be simulated by computer to verify the flight performance of UAVs, such as stability and maneuverability.

[0003] However, existing UAV flight simulation systems all perform simulation tests on the UAV as a whole, and are unable to perform simulation tests on the equipment carried by the UAV, resulting in relatively low test efficiency for UAVs. Summary of the invention

[0004] The main purpose of this application is to provide a UAV flight simulation automatic test system and method, aiming to solve the technical problem of low test efficiency of UAVs.

[0005] To achieve the above-mentioned purpose, the present application provides an unmanned aerial vehicle flight simulation automatic test system, the system comprising: a management subsystem, an execution subsystem, a real-time simulation system and a resource subsystem; the management subsystem is respectively connected to the execution subsystem, the real-time simulation system and the resource subsystem in communication, the execution subsystem is connected to the real-time simulation system in communication, the resource subsystem is used to provide an excitation electrical signal for a device under test carried by the unmanned aerial vehicle, and the real-time simulation subsystem is connected to the device under test;

[0006] The management subsystem is used to send test cases and communication protocols to the execution subsystem;

[0007] The execution subsystem is used to generate test logic and simulation instructions based on the test case and the communication protocol, and send the simulation instructions to the real-time simulation subsystem based on the test logic;

[0008] The real-time simulation subsystem is used to generate a corresponding simulation function based on the received simulation instruction, and use the simulation function to perform simulation test on the test device to obtain test data of the test device, and periodically send the test data to the execution subsystem;

[0009] The execution subsystem is further used to analyze the received test data based on the test logic to obtain a verification result of the device under test.

[0010] Optionally, the management subsystem includes: a device configuration management module, a test case management module, a test project management module, a data protocol management module, a test start and stop management module, a data processing module, and a test status monitoring module; wherein the device configuration management module is used to configure the system architecture and functions; the test case management module is used to import the preset cases written by the test personnel, and generate the test cases based on the preset cases; the test project management module is used to import the combined configuration of the test project; the data protocol management module is used to generate the communication protocol; the test start and stop management module is used to receive the start instruction input by the test personnel or the stop instruction sent by the execution subsystem, and control the real-time simulation subsystem, the execution subsystem and the resource subsystem to stop working based on the stop instruction. The data processing module is used to parse the test data of the device under test acquired in real time, and send the parsed test data to the test status monitoring module; the test status monitoring module is used to monitor the simulation running status of the real-time simulation subsystem based on the parsed test data of the device under test.

[0011] Optionally, the device configuration management module is also used to configure the system architecture into an integrated working mode and / or a distributed working mode based on test requirements, and to configure the system function into a semi-physical simulation and / or a full digital simulation based on test function requirements.

[0012] Optionally, the execution subsystem includes: a test case receiving module, a test logic generating module, a test logic executing module, a data processing module and a data transceiver module; wherein the test case receiving module is used to receive the test case sent by the management subsystem; the test logic generating module is used to generate the test logic based on the test case; the test logic executing module is used to execute the test logic; the data processing module is used to receive the test data of the device under test sent by the real-time simulation subsystem, and analyze and process the test data to obtain the verification result of the device under test; the data transceiver module is used to receive the test data of the device under test sent by the real-time simulation subsystem, and send the verification result of the device under test to the terminal designated by the test personnel.

[0013] Optionally, the real-time simulation subsystem is used to carry simulation software, and the real-time simulation subsystem includes: a data communication module, a simulation management module, a simulation model solving module, and an interface data processing module; wherein the data communication module is used to establish a communication connection with the management subsystem and the execution subsystem through a bus / non-bus interface; the simulation management module is used to generate corresponding simulation functions based on the simulation instructions. The simulation model solving module is used to perform simulation testing on the test equipment to obtain test data of the test equipment; the test data includes control instruction data, telemetry data, comprehensive detection feedback, and simulation solving data. The interface data processing module is used to perform data exchange with the device under test through a bus / non-bus interface.

[0014] Optionally, the resource subsystem includes: at least one of a programmable power supply, a multimeter, a signal generator, an oscilloscope, and a spectrum analyzer.

[0015] Optionally, the simulation instructions include at least one of simulation control instructions, ground integrated control instructions (ground station instructions, integrated detection instructions), fault simulation parameters, and environmental interference parameters.

[0016] In addition, to achieve the above-mentioned purpose, the present application also provides a method for automatic testing of unmanned aerial vehicle flight simulation, the method comprising: the management subsystem combines and constructs preset use cases pre-imported into the management subsystem to generate test cases; the management subsystem generates a communication protocol based on the pre-imported data communication rules; the management subsystem sends the test case and the communication protocol to the execution subsystem; the execution subsystem identifies the test case, obtains the current test case, and generates a test logic based on the current test case; the execution subsystem sends a simulation instruction to the real-time simulation subsystem based on the communication protocol and the test logic; after receiving the start instruction sent by the management subplatform, the real-time simulation subsystem generates a corresponding simulation function based on the simulation instruction; the real-time simulation subsystem performs a simulation test on the test equipment based on the simulation function to obtain the test data of the test equipment; the execution subsystem analyzes the received test data based on the test logic to obtain the verification result of the device under test.

[0017] Optionally, the real-time simulation subsystem performs a simulation test on the test equipment based on the simulation function to obtain test data of the test equipment, including: the real-time simulation subsystem processes the collected data packets of the test equipment to obtain control instructions; the real-time simulation subsystem monitors the flight status of the UAV based on the control instructions to obtain simulation parameters of the device under test; the real-time simulation subsystem generates test data based on the control instructions and the simulation parameters of the device under test.

[0018] Optionally, after obtaining the simulation parameters of the device under test, the method also includes: the real-time simulation subsystem sends the simulation parameters to the device under test; the real-time simulation subsystem obtains feedback information sent by the device under test, and sends the feedback information to the execution subsystem, wherein the feedback information is generated by the device under test based on the simulation parameters.

[0019] In addition, the present application also provides a computing device, which includes: at least one processor, a memory and an input and output unit; wherein the memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute any of the methods described above.

[0020] In addition, the present application also provides a computer-readable storage medium, which includes instructions, and when the instructions are executed on a computer, the computer executes any one of the above methods.

[0021] An unmanned aerial vehicle flight simulation automatic test system and method proposed in the embodiment of the present application performs closed-loop flight simulation test on the equipment under test through the unmanned aerial vehicle flight simulation automatic test system composed of a management subsystem, an execution subsystem, a real-time simulation subsystem and a resource subsystem; that is, the test logic is generated through test cases, and the simulation process of the real-time simulation subsystem is driven by the test logic, thereby replacing the test personnel in the logic execution, data observation and interpretation during the unmanned aerial vehicle flight simulation process, thereby improving the test efficiency; at the same time, by adopting the design idea of ​​decoupling the test cases from the unmanned aerial vehicle flight simulation automatic test system, it can meet the configuration of different types of unmanned aerial vehicles, realize the universal design of the unmanned aerial vehicle flight simulation automatic test system, improve the scalability of the unmanned aerial vehicle flight simulation automatic test system, and reduce the system design cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the structure of an unmanned aerial vehicle flight simulation automatic test system provided in one embodiment of the present application;

[0023] Figure 2 A schematic diagram of a flow chart of an automatic test method for unmanned aerial vehicle flight simulation provided in one embodiment of the present application;

[0024] Figure 3 A schematic diagram of the structure of a medium provided in one embodiment of the present application;

[0025] Figure 4 A schematic diagram of the structure of a computing device provided in one embodiment of the present application.

[0026] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0028] Those skilled in the art know that the embodiments of the present application can be implemented as a system, device, equipment, method or computer program product. Therefore, the present application can be specifically implemented in the following forms, namely: complete hardware, complete software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0029] UAV flight simulation is the use of computer simulation technology to simulate and evaluate the flight process of UAVs. That is, the flight dynamics of UAVs under various environmental conditions can be simulated by computers to verify the flight performance of UAVs, such as stability and maneuverability. However, the existing UAV flight simulation systems all perform simulation tests on UAVs as a whole, and cannot perform simulation tests on the equipment carried by UAVs, resulting in relatively low test efficiency of UAVs.

[0030] The main solution of the embodiment of the present application is: the system includes a management subsystem, an execution subsystem, a real-time simulation system and a resource subsystem; the management subsystem is communicatively connected with the execution subsystem, the real-time simulation system and the resource subsystem respectively, the execution subsystem is communicatively connected with the real-time simulation system, the resource subsystem is used to provide an excitation electrical signal for the device under test carried on the drone, and the real-time simulation subsystem is connected with the device under test; the management subsystem is used to send test cases and communication protocols to the execution subsystem; the execution subsystem is used to generate test logic and simulation instructions based on the test cases and the communication protocol, and send simulation instructions to the real-time simulation subsystem based on the test logic; the real-time simulation subsystem is used to generate corresponding simulation functions based on the received simulation instructions, and use the simulation function to simulate the test equipment to obtain the test data of the test equipment, and send the test data to the execution subsystem periodically; the execution subsystem is also used to analyze the received test data based on the test logic to obtain the verification result of the device under test.

[0031] The present application provides a solution, which performs closed-loop flight simulation testing on the equipment under test through an unmanned aerial vehicle flight simulation automatic test system composed of a management subsystem, an execution subsystem, a real-time simulation subsystem and a resource subsystem; that is, test logic is generated through test cases, and the simulation process of the real-time simulation subsystem is driven by the test logic, thereby replacing the test personnel in the logic execution, data observation and interpretation during the unmanned aerial vehicle flight simulation process, thereby improving the test efficiency; at the same time, by adopting a design idea of ​​decoupling the test cases from the unmanned aerial vehicle flight simulation automatic test system, it can meet the configuration of different types of unmanned aerial vehicles, realize the universal design of the unmanned aerial vehicle flight simulation automatic test system, improve the scalability of the unmanned aerial vehicle flight simulation automatic test system, and reduce the system design cost.

[0032] It should be noted that any number of elements in the drawings is for illustration rather than limitation, and any naming is only for distinction and does not have any limiting meaning.

[0033] The following is a detailed explanation of the principles and spirit of the present application with reference to several representative embodiments of the present application.

[0034] Reference Figure 1 An embodiment of the present application provides an automatic test system for unmanned aerial vehicle flight simulation. 1. An automatic test system for unmanned aerial vehicle flight simulation, the system includes: a management subsystem 10, an execution subsystem 20, a real-time simulation system 30 and a resource subsystem 40; the management subsystem is communicated with the execution subsystem, the real-time simulation system and the resource subsystem respectively, the execution subsystem is communicated with the real-time simulation system, the resource subsystem is used to provide an excitation electrical signal for a device under test 50 carried by the unmanned aerial vehicle, and the real-time simulation subsystem is connected to the device under test.

[0035] Specifically, the management subsystem is used to send test cases and communication protocols to the execution subsystem; the execution subsystem is used to generate test logic and simulation instructions based on the test cases and communication protocols, and send simulation instructions to the real-time simulation subsystem based on the test logic; the real-time simulation subsystem is used to generate corresponding simulation functions based on the received simulation instructions, and use the simulation functions to simulate the test equipment to obtain test data of the test equipment, and send the test data to the execution subsystem periodically; the execution subsystem is also used to analyze the received test data based on the test logic to obtain verification results of the device under test.

[0036] Furthermore, the management subsystem includes: equipment configuration management module, test case management module, test project management module, data protocol management module, test start and stop management module, data processing module, and test status monitoring module. Among them, the equipment configuration management module is used to configure the system architecture and functions.

[0037] For example, the architecture of the UAV flight simulation automatic test system is configured as distributed and integrated, and can be configured as semi-physical simulation and full digital simulation according to the function; if configured as a distributed architecture, the execution subsystem is configured as multiple subsystems to realize different functional simulations respectively; if configured as a centralized architecture, the execution subsystem is configured as one subsystem, which realizes multi-functional simulation; if configured as a semi-physical simulation mode, the device under test is an airborne avionics control computer or a prototype, and the real-time simulation subsystem exchanges data with the device under test through physical bus / non-bus signals; if configured as a full digital simulation mode, the device under test is an airborne avionics control computer software, and the real-time simulation subsystem exchanges data with the device under test through virtual bus / non-bus signals.

[0038] For another example, the management subsystem is configured as a comprehensive management computer, the execution subsystem is configured as a distributed architecture mode including a simulation management computer and a ground station simulation computer, the real-time simulation subsystem is configured as a real-time simulation computer, the device under test is configured as a flight control computer, and the resource subsystem is configured as a program-controlled power supply. Among them, the management subsystem and the execution subsystem, the execution subsystem and the real-time simulation subsystem, and the execution subsystem and the resource subsystem exchange data through Ethernet, the device under test and the real-time simulation subsystem exchange data through bus / non-bus signals, and the resource subsystem provides power supply signals for the device under test.

[0039] The test case management module is used to import preset test cases written by test personnel and generate test cases based on preset test cases. That is, preset test cases are imported through the test case configuration module of the management subsystem. After the preset test cases are imported, the test cases can be edited online and saved according to the needs to generate test cases; after the test case configuration is completed, it is distributed to the execution subsystem through the data distribution protocol; test cases include but are not limited to EXCEL format and TXT text format. The format of the test case is as follows:

[0040]

[0041] Among them, the execution steps represent the order of test execution. When the test starts, the execution subsystem performs logical execution in sequence according to the set execution steps; the subsystem identifier is used for each subsystem to identify the test case of this subsystem according to the subsystem identifier after the execution subsystem distributes the test case to each subsystem, and automatically generates the execution logic; the action type is used to represent the data operation that needs to be performed, including but not limited to sending, delaying, parsing, comparing expected values, storing, logical AND, and logical OR; the signal name represents the signal that needs to perform data operation; the signal value represents the signal value of the executed action signal; the allowable error is used to represent the action corresponding to the comparison of expected values, and set the allowable error range of the compared expected value; the data block identifier is used to screen and identify the data frame where the signal for the required data operation is located; the rule protocol link represents the communication protocol rule link of the data frame where the corresponding signal is located.

[0042] The test project management module is used to import the combined configuration of test projects.

[0043] The data protocol management module is used to generate communication protocols. The communication protocols include the data interaction protocol between the management subsystem and the real-time simulation subsystem, the data interaction protocol between the execution subsystem and the real-time simulation subsystem, and the data interaction protocol between the management subsystem and the resource subsystem; the communication protocol imported by the management subsystem can be edited and saved as needed, and distributed to the execution subsystem, the real-time simulation subsystem, and the resource subsystem after configuration; after receiving the communication protocol, the execution subsystem, the real-time simulation subsystem, and the resource subsystem identify it according to the subsystem identification number in the protocol, and generate the communication protocol of this subsystem for the test logic to call.

[0044] The test start and stop management module is used to receive the start command input by the test personnel or the stop command sent by the execution subsystem, and control the real-time simulation subsystem, the execution subsystem and the resource subsystem to stop working based on the stop command. That is, after the management subsystem completes the configuration of the communication protocol, the test personnel clicks to start the test through the management subsystem, and the management subsystem distributes the start test command to the execution subsystem, the real-time simulation subsystem and the resource subsystem.

[0045] The data processing module is used to parse the test data of the equipment under test acquired in real time, and send the parsed test data to the test status monitoring module. Among them, the test data includes control instruction data, telemetry data, comprehensive detection data, and simulation solution data; the control instruction data includes sensor control instructions, servo actuator subsystem control instructions, electromechanical subsystem control instructions, power subsystem control instructions, avionics subsystem control instructions, etc.

[0046] The test status monitoring module is used to monitor the simulation running status of the real-time simulation subsystem based on the test data of the device under test after analysis. That is, the test status monitoring module monitors the simulation running status of the real-time simulation subsystem. If the simulation running status fails, the fault level is automatically determined; the fault level is divided into serious faults and minor faults. When a serious fault is identified, the fault node data is automatically saved, the test is immediately ended, and the test equipment is shut down; when a minor fault is identified, the fault node data is automatically saved, the test is ended, and the test system is automatically restarted to restart the test.

[0047] Furthermore, the execution subsystem includes: a test case receiving module, a test logic generating module, a test logic executing module, a data processing module and a data transceiving module.

[0048] Among them, the test case receiving module is used to receive the test cases sent by the management subsystem. The test logic generation module is used to generate test logic based on the test cases; the test logic execution module is used to execute the test logic, and the execution subsystem will automatically observe the results of the test logic and execute the next step. The data processing module is used to receive the test data of the device under test sent by the real-time simulation subsystem, and analyze and process the test data to obtain the verification results of the device under test; the data transceiver module is used to receive the test data of the device under test sent by the real-time simulation subsystem, and send the verification results of the device under test to the terminal specified by the test personnel.

[0049] Furthermore, the real-time simulation subsystem is used to carry simulation software, and the real-time simulation subsystem includes: a data communication module, a simulation management module, a simulation model solving module, and an interface data processing module.

[0050] Among them, the data communication module is used to establish communication connections with the management subsystem and the execution subsystem through the bus / non-bus interface; the simulation management module is used to generate corresponding simulation functions based on simulation instructions. The simulation model solution module is used to simulate the test equipment to obtain the test data of the test equipment; the test data includes control instruction data, telemetry data, comprehensive detection feedback, and simulation solution data. The interface data processing module is used to exchange data with the device under test through the bus / non-bus interface.

[0051] The simulation instructions include at least one of simulation control instructions, ground integrated control instructions (ground station instructions, integrated detection instructions), fault simulation parameters, and environmental interference parameters. When the real-time simulation subsystem receives the simulation instruction sent by the execution subsystem, for example, the simulation instruction is a ground integrated control instruction, the real-time simulation subsystem processes the ground integrated control instruction through the simulation model, and then sends it to the device under test through the bus / non-bus interface, completing the ground detection of the UAV flight simulation and the simulation of sending the ground station instruction. At the same time, the feedback information of the device under test is periodically received through the bus / non-bus interface, and the feedback information is sent to the execution subsystem. The execution subsystem performs data analysis and automatic data observation to realize automatic simulation flight.

[0052] In addition, after the real-time simulation subsystem receives the start command sent by the management subsystem, the interface data processing module, simulation model module, simulation management module, and data communication module are executed in parallel. The interface data processing module of the real-time simulation subsystem receives the periodic control command sent by the device under test through the bus / non-bus. After receiving the control command, the simulation model task parses the control command and transfers the parsed value to the UAV dynamics simulation model, and calculates the position, attitude, speed and other information of the UAV in real time. The sensor / other airborne system simulation model collects the calculated value of the UAV dynamics simulation model in real time, and sends it to the device under test through the bus / non-bus interface after data processing, forming a closed loop of UAV flight simulation.

[0053] Furthermore, the resource subsystem includes at least one of a programmable power supply, a multimeter, a signal generator, an oscilloscope, and a spectrum analyzer. After receiving the start instruction sent by the management subsystem, the resource subsystem realizes power-on control of the device under test through the programmable power supply and the like.

[0054] The above-mentioned real-time simulation subsystem forms a flight simulation closed loop with the equipment under test by simulating the functions of the ground control system (such as ground station, integrated detection system, etc.), UAV dynamics simulation, UAV airborne system simulation, UAV airborne system failure, environmental interference, etc. during the flight simulation process. At the same time, the flight simulation process is driven by the test logic, replacing the test personnel to perform logic execution, data observation and interpretation during the UAV flight simulation process, thereby improving the test efficiency;

[0055] By designing the system restart logic, the repetitive test operation and logic judgment work are transferred from relying on test personnel to automatic execution by the system, realizing multi-round automatic repetitive test for complex logic and test objects in the loop, effectively improving the test efficiency and reducing the labor cost required for the test;

[0056] By building an open system architecture, the simulation system is configurable, which greatly improves the system's functional diversity and aircraft versatility. By decoupling the execution subsystem from the real-time simulation subsystem, the execution subsystem distributes the execution test logic to achieve real-time data interaction between the real-time simulation subsystem and the airborne system simulation model and the equipment under test, thereby meeting the real-time requirements of the flight simulation process, releasing technical risks in advance, and improving flight test safety.

[0057] By designing an open program architecture and semantic parsing, test cases are converted into programming languages ​​to achieve automatic generation of execution logic, which reduces the difficulty of testers in writing test cases and lowers the code level requirements, further improving test efficiency.

[0058] By adopting a design mode of separating general test processes from special test processes, the general test processes are solidified, and the special test processes can be designed and changed and modularized according to the needs of different test subjects, so that different test tasks can be quickly constructed to meet the needs of different test subjects and different models, thereby improving the scalability of the system;

[0059] By configuring different system architectures and functions, the testing requirements of different stages in the UAV simulation test process can be met, such as full digital simulation, semi-physical simulation, etc. The diverse usage scenarios reduce the testing costs.

[0060] After introducing the system of the exemplary embodiment of the present application, next, refer to Figure 4 An embodiment of the present application provides an automatic test method for unmanned aerial vehicle flight simulation, and the automatic test method for unmanned aerial vehicle flight simulation includes:

[0061] Step S210, the management subsystem combines and constructs the preset use cases pre-imported into the management subsystem to generate test cases;

[0062] Step S220, the management subsystem generates a communication protocol based on the pre-imported data communication rules;

[0063] Step S230, the management subsystem sends the test case and the communication protocol to the execution subsystem;

[0064] Step S240, the execution subsystem identifies the test case, obtains the current test case, and generates test logic based on the current test case;

[0065] Step S250, the execution subsystem sends a simulation instruction to the real-time simulation subsystem based on the communication protocol and the test logic;

[0066] Step S260, after receiving the start instruction sent by the management sub-platform, the real-time simulation subsystem generates a corresponding simulation function based on the simulation instruction;

[0067] Step S270: the real-time simulation subsystem performs simulation testing on the test equipment based on the simulation function to obtain test data of the test equipment.

[0068] Among them, the above-mentioned step S270 may include: the real-time simulation subsystem processes the collected data packets of the test equipment to obtain control instructions; the real-time simulation subsystem monitors the flight status of the UAV based on the control instructions to obtain simulation parameters of the device under test; the real-time simulation subsystem generates test data based on the control instructions and the simulation parameters of the device under test.

[0069] In an exemplary embodiment, the control command includes at least one of a sensor control command, a servo-actuation subsystem control command, a mechatronics subsystem control command, a power subsystem control command, and an avionics subsystem control command.

[0070] It can be understood that the real-time simulation subsystem collects data packets from the device under test, processes the data packets and sends them to the simulation model solution module, parses the control instructions in the data packets and sends them to the UAV dynamics simulation model. The UAV dynamics simulation model solves the position and attitude of the UAV at the current moment according to the control instructions. The sensor simulation model collects parameters such as position / attitude / speed and packages them according to the communication protocol. At the same time, other simulation models package the simulation data and status according to the communication protocol and send them to the device under test through the bus / non-bus interface to realize the closed loop of flight simulation. At the same time, the real-time simulation subsystem sends the collected data packets such as the control instructions, telemetry data, and comprehensive detection data of the device under test, as well as the sensor data / status and other simulation model data / status solved in real time by the simulation model to the execution subsystem.

[0071] In other embodiments, the real-time simulation subsystem in the above step S270 monitors the flight status of the UAV based on the control instructions, and after obtaining the simulation parameters of the device under test, the method also includes: the real-time simulation subsystem sends the simulation parameters to the device under test; the real-time simulation subsystem obtains feedback information sent by the device under test, and sends the feedback information to the execution subsystem, and the feedback information is generated by the device under test based on the simulation parameters.

[0072] It can be understood that the real-time simulation subsystem receives the simulation instructions sent by the execution subsystem, which are simulated ground control instructions. The simulation instructions are processed by the simulation model and sent to the device under test, completing the UAV flight simulation ground detection and ground station command sending simulation. At the same time, it periodically receives feedback information from the device under test through the bus / non-bus interface, and sends the feedback information to the execution subsystem. The execution subsystem performs data analysis and automatic data observation on the feedback information to realize automatic simulation flight.

[0073] Step S280: the execution subsystem analyzes the received test data based on the test logic to obtain a verification result of the device under test.

[0074] As can be understood from the above embodiments, when the test starts, the execution subsystem performs logical execution in sequence according to the set execution steps; when the signal sending logic is executed, the packetization protocol of the corresponding data packet in the communication protocol is called according to the signal name attribute, signal value attribute, data block attribute and data block link attribute in the test logic, and the simulation instruction is obtained after the data is packetized by the data transceiver module, and the simulation instruction is sent to the real-time simulation subsystem.

[0075] After receiving the simulation instruction, the real-time simulation subsystem identifies the data packet of the simulation instruction. For example, if it is identified as a remote control data packet and a ground comprehensive detection instruction data packet, it obtains the latest remote control frame according to the set communication protocol, and periodically sends the latest remote control frame to the device under test to complete the simulation of the ground station, link, etc.; and obtains the comprehensive detection instruction data frame according to the set communication protocol, and periodically sends the latest comprehensive detection instruction data frame to the device under test to complete the simulation of sending the ground comprehensive detection instruction. In this way, when the device under test receives the remote control data frame and the comprehensive detection data frame, it triggers the corresponding remote control and comprehensive detection logic to generate a data packet. The data packet includes a control instruction, and the control instruction is sent to the real-time simulation subsystem according to the test logic. The real-time simulation subsystem automatically implements the ground control and ground comprehensive detection process, and finally obtains the verification result of the device under test.

[0076] After obtaining the verification results, the real-time simulation subsystem sends the verification results to the execution subsystem. The execution subsystem determines whether the test is completed in real time according to the test logic. If it is completed, it automatically decides whether to execute the next test item according to the test logic of this round. If the next test item is executed, the execution subsystem controls the real-time simulation subsystem and the resource subsystem to achieve a soft restart of the system, and automatically executes the next test item until the test task is completed, realizing unattended multi-round flight simulation. If not executed, the test end instruction is sent to the management subsystem through the execution subsystem. The management subsystem controls the real-time simulation subsystem and the resource subsystem to stop the simulation task. The resource subsystem sends a power-off instruction to the device under test to complete the power-off of the device under test.

[0077] Implement the above-mentioned steps S210 to S280, and perform closed-loop flight simulation test on the equipment under test through the unmanned aerial vehicle flight simulation automatic test system composed of the management subsystem, the execution subsystem, the real-time simulation subsystem and the resource subsystem; that is, generate test logic through test cases, and drive the simulation process of the real-time simulation subsystem through the test logic, thereby replacing the test personnel in the logic execution, data observation and interpretation during the unmanned aerial vehicle flight simulation process, thereby improving the test efficiency; at the same time, by adopting the design idea of ​​decoupling the test cases from the unmanned aerial vehicle flight simulation automatic test system, it can meet the configuration of different types of unmanned aerial vehicles, realize the universal design of the unmanned aerial vehicle flight simulation automatic test system, improve the scalability of the unmanned aerial vehicle flight simulation automatic test system, and reduce the system design cost.

[0078] After introducing the method and system of the exemplary embodiment of the present application, next, reference is made to Figure 3 For a description of the computer-readable storage medium of the exemplary embodiment of the present application, please refer to Figure 3 , the computer-readable storage medium shown is a CD 30, on which a computer program (i.e., a program product) is stored. When the computer program is executed by the processor, it will implement the steps recorded in the above method implementation method, for example, the management subsystem combines and constructs the preset use cases pre-imported into the management subsystem to generate test cases; the management subsystem generates a communication protocol based on the pre-imported data communication rules; the management subsystem sends the test cases and the communication protocol to the execution subsystem; the execution subsystem identifies the test cases, obtains the current test cases, and generates test logic based on the current test cases; the execution subsystem sends simulation instructions to the real-time simulation subsystem based on the communication protocol and the test logic; after receiving the start instruction sent by the management subplatform, the real-time simulation subsystem generates a corresponding simulation function based on the simulation instruction; the real-time simulation subsystem performs simulation testing on the test equipment based on the simulation function to obtain the test data of the test equipment; the execution subsystem analyzes the received test data based on the test logic to obtain the verification result of the device under test; the specific implementation method of each step is not repeated here.

[0079] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0080] After introducing the method, apparatus and medium of the exemplary embodiments of the present application, next, reference is made to Figure 4 A computing device for model processing according to an exemplary embodiment of the present application.

[0081] Figure 4 A block diagram of an exemplary computing device 40 suitable for implementing embodiments of the present application is shown. The computing device 40 may be a computer system or a server. Figure 4 The computing device 40 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0082] like Figure 4 As shown, the components of the computing device 40 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, and a bus 403 connecting different system components (including the system memory 402 and the processing unit 401).

[0083] The computing device 40 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computing device 40, including volatile and non-volatile media, removable and non-removable media.

[0084] The system memory 402 may include computer system readable media in the form of volatile memory, such as RAM 4021 and / or cache memory 4022, where RAM is random access memory. The computing device 40 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, ROM 4023 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 is not shown in the Figure 4 As shown in FIG. 4 , a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk") and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) can be provided. In these cases, each drive can be connected to bus 403 via one or more data medium interfaces. System memory 402 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of each embodiment of the present application.

[0085] A program / utility 4025 having a set (at least one) of program modules 4024 may be stored, for example, in system memory 402, and such program modules 4024 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. Program modules 4024 generally perform the functions and / or methods of the embodiments described herein.

[0086] The computing device 40 may also communicate with one or more external devices 404 (e.g., a keyboard, a pointing device, a display, etc.). Such communication may be performed via an I / O interface 405, which is an input / output interface. Furthermore, the computing device 40 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 406. Figure 4 As shown, the network adapter 406 communicates with other modules (such as the processing unit 401, etc.) of the computing device 40 via the bus 403. It should be understood that although Figure 4 Not shown, other hardware and / or software modules may be used in conjunction with computing device 40 .

[0087] The processing unit 401 executes various functional applications and data processing by running the program stored in the system memory 402. For example, the management subsystem combines and constructs the preset use cases pre-imported into the management subsystem to generate test cases; the management subsystem generates a communication protocol based on the pre-imported data communication rules; the management subsystem sends the test cases and the communication protocol to the execution subsystem; the execution subsystem identifies the test cases, obtains the current test cases, and generates the test logic based on the current test cases; the execution subsystem sends the simulation instructions to the real-time simulation subsystem based on the communication protocol and the test logic; after receiving the start instruction sent by the management subplatform, the real-time simulation subsystem generates the corresponding simulation function based on the simulation instruction; the real-time simulation subsystem performs simulation test on the test equipment based on the simulation function to obtain the test data of the test equipment; the execution subsystem analyzes the received test data based on the test logic to obtain the verification result of the device under test. The specific implementation method of each step will not be repeated here. In fact, according to the implementation method of the present application, the features and functions of two or more units / modules described above can be concretized in one unit / module. On the contrary, the features and functions of one unit / module described above may be further divided into multiple units / modules to be embodied.

[0088] In the description of the present application, it should be noted that the terms "first", "second" and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0089] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0090] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0091] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0092] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0093] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0094] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

[0095] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

Claims

1. An unmanned aerial vehicle flight simulation automatic test system, characterized in that: The system includes: a management subsystem, an execution subsystem, a real-time simulation system and a resource subsystem; the management subsystem is respectively connected to the execution subsystem, the real-time simulation system and the resource subsystem in communication, the execution subsystem is connected to the real-time simulation system in communication, the resource subsystem is used to provide an excitation electrical signal for the device under test carried by the drone, and the real-time simulation subsystem is connected to the device under test; The management subsystem is used to send test cases and communication protocols to the execution subsystem; The execution subsystem is used to generate test logic and simulation instructions based on the test case and the communication protocol, and send the simulation instructions to the real-time simulation subsystem based on the test logic; The real-time simulation subsystem is used to generate a corresponding simulation function based on the received simulation instruction, and use the simulation function to perform simulation test on the test device to obtain test data of the test device, and periodically send the test data to the execution subsystem; The execution subsystem is further used to analyze the received test data based on the test logic to obtain a verification result of the device under test.

2. The system according to claim 1, characterized in that The management subsystem includes: equipment configuration management module, test case management module, test project management module, data protocol management module, test start and stop management module, data processing module, and test status monitoring module; Wherein, the device configuration management module is used to configure the system architecture and functions; The test case management module is used to import the preset test cases written by the test personnel and generate the test cases based on the preset test cases; The test project management module is used to import the combined configuration of the test project; The data protocol management module is used to generate a communication protocol; The test start and stop management module is used to receive a start instruction input by a tester or a stop instruction sent by the execution subsystem, and control the real-time simulation subsystem, the execution subsystem and the resource subsystem to stop working based on the stop instruction; The data processing module is used to parse the test data of the device under test acquired in real time, and send the parsed test data to the test status monitoring module; The test status monitoring module is used to monitor the simulation running status of the real-time simulation subsystem based on the parsed test data of the device under test.

3. The system according to claim 1, characterized in that The device configuration management module is also used to configure the system architecture into an integrated working mode and / or a distributed working mode based on test requirements, and to configure the system function into a semi-physical simulation and / or a full digital simulation based on test function requirements.

4. The system according to claim 1, characterized in that The execution subsystem includes: a test case receiving module, a test logic generating module, a test logic executing module, a data processing module and a data transceiving module; Wherein, the test case receiving module is used to receive the test case sent by the management subsystem; The test logic generation module is used to generate the test logic based on the test case; The test logic execution module is used to execute the test logic; The data processing module is used for receiving the test data of the device under test sent by the real-time simulation subsystem, and analyzing and processing the test data to obtain the verification result of the device under test; The data transceiver module is used to receive the test data of the device under test sent by the real-time simulation subsystem, and to send the verification result of the device under test to a terminal designated by the tester.

5. The system according to claim 1, wherein: The real-time simulation subsystem is used to carry simulation software, and the real-time simulation subsystem includes: a data communication module, a simulation management module, a simulation model solving module, and an interface data processing module; Wherein, the data communication module is used to establish a communication connection with the management subsystem and the execution subsystem through a bus / non-bus interface; The simulation management module is used to generate a corresponding simulation function based on the simulation instruction. The simulation model solving module is used to perform simulation testing on the test equipment to obtain test data of the test equipment; the test data includes control instruction data, telemetry data, comprehensive detection feedback, and simulation solving data; The interface data processing module is used to perform data exchange with the device under test through a bus / non-bus interface.

6. The system according to claim 1, characterized in that The resource subsystem includes: at least one of a programmable power supply, a multimeter, a signal generator, an oscilloscope, and a spectrum analyzer.

7. The system according to claim 1, characterized in that The simulation instructions include at least one of simulation control instructions, ground integrated control instructions (ground station instructions, integrated detection instructions), fault simulation parameters, and environmental interference parameters.

8. An automatic test method for unmanned aerial vehicle flight simulation, characterized in that: The method comprises: The management subsystem combines and constructs the preset use cases pre-imported into the management subsystem to generate test cases; The management subsystem generates a communication protocol based on pre-imported data communication rules; The management subsystem sends the test case and the communication protocol to the execution subsystem; The execution subsystem identifies the test case, obtains the current test case, and generates test logic based on the current test case; and, based on the communication protocol and the test logic, sends a simulation instruction to the real-time simulation subsystem; After receiving the start instruction sent by the management sub-platform, the real-time simulation subsystem generates a corresponding simulation function based on the simulation instruction; and performs simulation test on the test device based on the simulation function to obtain test data of the test device; The execution subsystem analyzes the received test data based on the test logic to obtain a verification result of the device under test.

9. The method according to claim 8, characterized in that The real-time simulation subsystem performs simulation testing on the test device based on the simulation function to obtain test data of the test device, including: The real-time simulation subsystem processes the collected data packets of the test device to obtain control instructions; the control instructions include at least one of sensor control instructions, servo actuator subsystem control instructions, electromechanical subsystem control instructions, power subsystem control instructions, and avionics subsystem control instructions; The real-time simulation subsystem monitors the flight status of the UAV based on the control instruction to obtain simulation parameters of the device under test; The real-time simulation subsystem generates test data based on the control instructions and simulation parameters of the device under test.

10. The method according to claim 9, characterized in that After obtaining the simulation parameters of the device under test, the method further includes: The real-time simulation subsystem sends the simulation parameters to the device under test; The real-time simulation subsystem obtains feedback information sent by the device under test, and sends the feedback information to the execution subsystem, where the feedback information is generated by the device under test based on the simulation parameters.

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