Flight management system semi-physical test environment route loading and verification method

Abstract

The invention relates to the technical field of unmanned aerial vehicle flight management system semi-physical tests, and relates to a flight management system semi-physical test environment route loading and verification method. According to the route loading mode in the flight management semi-physical test environment, existing waypoint information (longitude, latitude, height, arrival speed and the like) can be changed online in real time, waypoints can be deleted or increased to regenerate route information, route programming on a flight management computer by independent equipment is not needed, and the route loading mode has the advantages of being fast in route loading and convenient to operate. The flight route verification method has the characteristic of simultaneous visualization of a theoretical flight route and an actual flight route, and can compare and analyze the difference between the actual flight route and a loaded flight route of an airplane in a semi-physical test process in real time, thereby facilitating iteration of a flight management computer tracking flight route algorithm. And the optimization efficiency of a designer on an unmanned aerial vehicle tracking route algorithm is improved to a great extent.

Description

Technical Field

[0001] The present invention relates to the technical field of semi-physical test of unmanned aerial vehicle flight control system, and to a test method of route loading and verification, in particular to a route loading in a semi-physical test environment of a flight control system. Background Art

[0002] The UAV flight management system is the control and data exchange center of the UAV, and serves as the brain of the UAV. As UAV technology matures, people have given UAVs more missions, such as forest fire fighting, traffic monitoring, disaster relief, and marine patrols. Among them, the setting of the route determines the flight trajectory of the UAV, and whether the route can be correctly loaded into the flight management system is the key to the success or failure of the UAV mission. In the process of developing the UAV flight management system, route loading and verification are extremely important links. At present, the most common method is to write the waypoint information in the route into a file, load it to the flight management computer when using the target machine, and print and monitor the correctness of the loaded waypoint information through the flight management computer software program. This method cannot intuitively reflect the waypoint information, and the verification efficiency is also low. Summary of the invention

[0003] Purpose of the Invention

[0004] The present invention needs to solve a technical solution that can intuitively reflect avionics information and at the same time measures that can significantly improve verification efficiency.

[0005] Technical Solution

[0006] The technical problem solved by the present invention is achieved by adopting the following technical solutions:

[0007] A method for loading a route in a semi-physical test environment of a flight control system is provided, wherein a two-dimensional situation system, a flight simulation system, and a signal conversion system are established in the semi-physical test environment of the flight control system. In the two-dimensional situation system, a mouse can be used to click on different positions of a known map, and the current position can be set as waypoint N, and the longitude, latitude, altitude, airspeed and other information of waypoint N can be set at the same time. After setting waypoints 1 to N, the two-dimensional situation automatically generates a .txt file, and the file is transmitted to the flight simulation system through an Ethernet network.

[0008] After receiving the .txt file of the route, the flight simulation system converts it into a fiber optic signal format and sends it to the signal conversion system. The signal conversion system parses the received route file, converts it into RS422 bus format and sends it to the flight control computer, which sends a reception success / failure flag signal.

[0009] Furthermore, before implementing the route loading method, a flight control computer, a flight simulation system, a two-dimensional situation operation platform, and a signal conversion device should be available;

[0010] Furthermore, after verification in the semi-physical test environment of the flight control system, the success rate of the route loading method can be fully discovered; the efficiency of the flight control computer interface processing can be quickly iterated.

[0011] Furthermore, in this method, at a certain track point, the waypoint information can be modified online and visualized, the route can be planned, and the flight control computer algorithm and interface processing capabilities can be fully and quickly verified.

[0012] Furthermore, the two-dimensional situation system is written through the Visual studio platform.

[0013] Furthermore, the two-dimensional situation system includes a route planning display module, a real-time track display module, a waypoint adding module, a waypoint deleting module, a route generating module, a route sending module, and a map display module;

[0014] Furthermore, a route verification method for a semi-physical test environment of a flight control system is provided: after the flight control computer successfully receives the route, the flight simulation system is run. At this time, the signal conversion system will send the aircraft motion trajectory information output by the flight control computer to the flight simulation system through the optical fiber network in real time. At the same time, the flight simulation system will send the aircraft's current motion trajectory information to the two-dimensional situation system through the Ethernet network, and observe in the two-dimensional situation system whether the aircraft's motion trajectory coincides with the loaded route.

[0015] Technical effects:

[0016] In the semi-physical test process of the flight control system in the field of UAVs, the traditional route loading method is mostly through burning equipment, burning the pre-set waypoint information to the flight control computer, and then verifying whether the waypoints of the actual flight of the aircraft are correct in a semi-physical test environment. If the route needs to be changed, deleted or added, the waypoint information needs to be re-burned.

[0017] The route loading method in the semi-physical test environment of the flight tube can realize online real-time modification of existing waypoint information (longitude, latitude, altitude, speed to point, etc.), delete or add waypoints and then regenerate route information. There is no need for independent equipment to burn the route to the flight tube computer. It has the characteristics of fast route loading and easy operation.

[0018] The route verification method has the feature of simultaneous visualization of theoretical routes and actual flight routes. It can compare and analyze in real time the difference between the actual flight route of the aircraft and the loaded route during the semi-physical test, which is convenient for the iteration of the flight control computer tracking route algorithm and greatly improves the efficiency of designers in optimizing the UAV tracking route algorithm. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the flight control system semi-physical test environment route loading and verification method; DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the implementation of the present invention clearer, the technical scheme in the embodiment of the present invention will be described in more detail in combination with the embodiment of the present invention. In the example, the same or similar reference numerals throughout represent the same or similar originals or elements with the same or similar functions. The described embodiments are part of the embodiments of the present invention, not all of them. The embodiments described below by reference are exemplary and intended to be used to explain the present invention, and should not be construed as limitations on the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present invention. The following is a detailed description in combination with the embodiments of the present invention.

[0021] 1) In the semi-physical test environment of the flight control system, a two-dimensional situation system is written through the Visual studio platform. The system contains a planning route display module, a real-time track display module, a waypoint addition module, a waypoint deletion module, a route generation module, a route sending module, and a map display module;

[0022] 2) Establish a UAV flight simulation system through the MATLAB / Simulink platform, which includes the steering gear model, aircraft equations, mass characteristics, aerodynamic data, engine model, brake model, data interface model, etc.

[0023] 3) The signal conversion system can convert the optical fiber network signal into RS422 bus signal and output it to the flight tube computer. It can also convert the RS422 bus signal into optical fiber signal for output.

[0024] 4) Click the map display module in the 2D situation system to display the current map. After selecting Add Waypoint, use the mouse to select the map location, mark point 1, and so on to point N. You can reset it by deleting the waypoint; click the waypoint to set the longitude, latitude, altitude, speed, etc. of the waypoint; click Generate Route, and the route will generate a .txt file. Click Send and the file will be sent to the flight simulation system via Ethernet, as above. Figure 1 As shown in ①;

[0025] 5) The flight simulation system sends the generated route .txt file to the signal conversion system through the optical fiber network through the data interface model, as above Figure 1 As shown in ②;

[0026] 6) The signal conversion system converts the optical fiber signal into RS422 bus format and sends it to the flight control computer. At this time, the flight control computer sends a route loading success / failure flag to the signal conversion system;

[0027] 7) If the route is loaded successfully, the flight simulation system starts running, and the servo model simulates the actual servo, and the aircraft equations, mass characteristics, aerodynamic data, engine model, brake model, etc. are modeled according to the aircraft data;

[0028] 8) The flight control computer sends the current aircraft position, each servo position, speed, altitude and other data to the signal conversion system via the RS422 bus, as shown above. Figure 1 As shown in ④;

[0029] 9) The signal conversion system sends the aircraft position, each servo position, speed, altitude and other data to the flight simulation system through the optical fiber network, as shown above Figure 1 As shown in ⑤;

[0030] 10) The flight simulation system sends the aircraft position, each servo position, speed, altitude and other data to the two-dimensional situation system through the Ethernet network, as shown above Figure 1 As shown in ⑥;

[0031] 11) Compare and verify the loaded route through the planned route display and real-time track display in the two-dimensional situation system.

[0032] It is understood by those skilled in the art that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and unless defined as here, will not be interpreted with idealized or overly formal meanings. The specific implementation methods described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Within the spirit and principle of the present invention, any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment of equivalent changes for application in other fields, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the technical solution content of the present invention, any modification, equivalent replacement, improvement, etc., made according to the technical essence of the present invention, should be included in the protection scope of the present invention.

Claims

1. A method for loading a flight path in a semi-physical test environment of a flight control system, characterized in that: A two-dimensional situation system, a flight simulation system, and a signal conversion system are established in a semi-physical test environment of the flight control system; in the two-dimensional situation system, a mouse is used to click different positions on a known map, and the current position is set as waypoint No. N, and the longitude, latitude, altitude, airspeed and other information of waypoint No. N are set. After setting waypoints No. 1 to N, the two-dimensional situation automatically generates a .txt file, and the file is transmitted to the flight simulation system through an Ethernet network; After the flight simulation system receives the .txt file of the route, it converts it into a fiber optic signal format and sends it to the signal conversion system; the signal conversion system parses the received route file, converts it into RS422 bus format and sends it to the flight control computer, which sends a reception success / failure flag signal.

2. The loading method according to claim 1, characterized in that: Before implementing the route loading method, a flight control computer, a flight simulation system, a two-dimensional situation operation platform, and a signal conversion device should be available.

3. The loading method according to claim 2, characterized in that: After verification in the semi-physical test environment of the flight control system, the success rate of the route loading method can be fully discovered; the efficiency of the flight control computer interface processing can be quickly iterated.

4. The loading method according to claim 3, characterized in that: At a certain track point, the waypoint information can be modified online and visually, the route can be planned, and the flight control computer algorithm and interface processing capabilities can be fully and quickly verified.

5. The loading method according to claim 4, characterized in that: The two-dimensional situation system is written through the Visualstudio platform.

6. The loading method according to claim 5, characterized in that: The two-dimensional situation system includes a route planning display module, a real-time track display module, a waypoint adding module, a waypoint deleting module, a route generating module, a route sending module, and a map display module.

7. A verification method for the loading method as claimed in claim 6: After the flight control computer successfully receives the route, the flight simulation system is run. At this time, the signal conversion system will send the aircraft motion trajectory information output by the flight control computer to the flight simulation system through the optical fiber network in real time. At the same time, the flight simulation system sends the aircraft's current motion trajectory information to the two-dimensional situation system through the Ethernet network, and observes whether the aircraft's motion trajectory coincides with the loaded route in the two-dimensional situation system.

8. A loading system using the loading method of claim 7, characterized in that: The loading system comprises software and hardware components.

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