Unmanned aerial vehicle non-bus simulation excitation method

Abstract

The invention belongs to the technical field of avionics, and provides a non-bus simulation excitation method for an unmanned aerial vehicle, which comprises the following steps of: writing dynamic simulation excitation into a file in a specific format and storing, reading data from the file by a non-bus signal simulation module, and issuing the data to a cache of module hardware, and sending the data to each non-bus signal sensor one by one by module hardware according to a time sequence set in the dynamic simulation excitation until the cache is emptied, and verifying the dynamic data sending function. According to the excitation method based on dynamic signal simulation, the verification depth and breadth of a certain type of unmanned aerial vehicle can be improved, and the reliability and stability of airborne products are improved; and the development level of test equipment can be improved.

Description

Technical Field

[0001] This invention belongs to the field of avionics technology and relates to a dynamic simulation excitation method based on non-bus signals, specifically a non-bus simulation excitation method for unmanned aerial vehicles. Background Technology

[0002] Based on the demand analysis of non-bus simulation excitation for a certain type of UAV, new requirements are put forward for real-time dynamic simulation excitation technology of non-bus signals. Existing non-bus signal simulation excitation technology can no longer meet the testing and verification requirements of a certain type of UAV, and cannot fully verify the depth and breadth of testing for a certain type of UAV, thus hindering the verification and development of a certain type of UAV. There is an urgent need to provide an excitation method based on real-time dynamic simulation of non-bus signals. Summary of the Invention

[0003] To address the aforementioned issues, this invention provides a non-bus simulation excitation method for unmanned aerial vehicles (UAVs), which enables dynamic signal simulation excitation of non-bus signals, including switching signals, DC analog signals, frequency signals, and resistance signals. This method is used to fully verify the testing depth and breadth of a certain UAV model, thereby improving the reliability and stability of the UAV model.

[0004] The technical solution of the present invention is as follows:

[0005] A non-bus simulation excitation method for unmanned aerial vehicles (UAVs) includes the following steps:

[0006] S1, compile the dynamic simulation stimuli into a file of a specific format and save it;

[0007] S2, the non-bus signal simulation module reads data from the file and sends it to the module hardware's cache. The module hardware then sends the data to each non-bus signal sensor one by one according to the timing set in the dynamic simulation stimulus, until the cache is cleared.

[0008] S3 verifies the dynamic data sending function.

[0009] Furthermore, the specific format of the file is an XML file.

[0010] Furthermore, the non-bus signal simulation module reads the data to be simulated, the upper-level defined interface, and the signal data to be dynamically sent from the corresponding XML format file, and writes them into the hardware module in the form of a BUFF.

[0011] Furthermore, the non-bus signal simulation module includes a configuration interface for the update rate, which is the number of times the transmitted signal data is updated per second, used to control the transmission speed of the signal data to be transmitted from the storage area.

[0012] Furthermore, the non-bus signal simulation module provides an interface for setting the start and end addresses. The start and end addresses limit the dynamically transmitted data segments, allowing users to select any segment of data from the storage area for transmission.

[0013] Furthermore, the non-bus signal simulation module provides an interface for the number of signal outputs; dynamic transmission can be set to a finite number of times or an infinite number of times; one dynamic transmission completes one data transmission from the set start address to the end address. When the finite number of times is selected, the data transmission will automatically stop after a specified number of times. When the infinite number of times is selected, the data will be transmitted continuously until the user manually stops it.

[0014] Furthermore, S2 specifically includes the following steps:

[0015] S21 connects to the non-bus signal simulation module;

[0016] S22, Generate simulated dynamic transmission signal data;

[0017] S23, set the signal data update rate and transmission count;

[0018] S24, load the transmitted signal data to the hardware module;

[0019] S25, Initiate data transmission.

[0020] Furthermore, the functional verification process in S3 follows these steps:

[0021] S31, Select one non-bus module A for dynamic transmission output, and select another high-speed signal acquisition module B to acquire the output signal of the former in real time;

[0022] S32, Module B sets a sampling rate that is greater than twice the update rate of Module A;

[0023] S33, Module A sets the dynamic transmission signal data and sets parameters such as update rate;

[0024] S34, Start module B to collect data, then start module A to send data dynamically;

[0025] S35, Write software to analyze the collected data and determine whether the collected data is the same as that actually sent by module A.

[0026] The beneficial effects of this invention are as follows:

[0027] 1. The original simulation stimulus data transmission was implemented using the BUFFER interface, which required setting each serial port and each simulation parameter, resulting in low efficiency. Now, through dynamic signal simulation, it supports setting the serial port and simulation parameters according to the file preset and transmitting them in a loop through the hardware layer, which greatly shortens the simulation and testing time and improves efficiency.

[0028] 2. The original simulation excitation data transmission required manual clicking one by one. In actual testing, multiple parameters need to be input simultaneously, making it difficult to guarantee the timing requirements of the simulation data. Now, the excitation method based on dynamic signal simulation can transmit data in a loop according to the preset file, which improves the timing of the transmitted data.

[0029] 3. Previously, the simulation excitation data had to be set manually one by one, which resulted in discrepancies between the preset input data and the actual input data. Now, by reading the file and setting the simulation data, the accuracy of the simulation data input has been improved.

[0030] 4. The excitation method based on dynamic signal simulation of this invention can meet the requirements of multi-channel, multi-parameter, and automatic loading and transmission of data in multiple systems, which broadens the scope of simulation and testing and improves the verification depth and breadth of UAVs. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the non-bus simulation data configuration interface of the present invention;

[0032] Figure 2 This is a schematic diagram of the non-bus signal dynamic transmission process of the present invention;

[0033] Figure 3 This is a schematic diagram of the workflow for non-bus signal dynamic verification of the present invention;

[0034] Figure 4 This is a schematic diagram of the verification output terminal configuration of the present invention;

[0035] Figure 5 This is a schematic diagram of the configuration of the verification and acquisition terminal of the present invention. Detailed Implementation

[0036] This section describes embodiments of the present invention, used to explain and illustrate the technical solutions of the present invention. Unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0037] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating directions or positional relationships, are based on the orientation or positional relationships in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or case referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include more than one of those features. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0038] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integrated connections; they can refer to mechanical connections or point connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] Example 1:

[0040] A non-bus simulation excitation method for unmanned aerial vehicles (UAVs) includes the following steps:

[0041] S1, compile the dynamic simulation stimuli into a file of a specific format and save it;

[0042] S2, the non-bus signal simulation module reads data from the file and sends it to the module hardware's cache. The module hardware then sends the data to each non-bus signal sensor one by one according to the timing set in the dynamic simulation stimulus, until the cache is cleared.

[0043] S3 verifies the dynamic data sending function.

[0044] The file in this specific format is an XML file.

[0045] The non-bus signal simulation module reads the data to be simulated, the upper-level defined interface, and the signal data to be dynamically sent from the corresponding XML format file, and writes them into the hardware module in the form of a BUFF.

[0046] The non-bus signal simulation module includes a configuration interface for the update rate, which is the number of times the transmitted signal data is updated per second, and is used to control the transmission speed of the signal data to be transmitted from the storage area.

[0047] The non-bus signal simulation module provides an interface for setting the start and end addresses. The start and end addresses limit the dynamically transmitted data segments, allowing users to select any segment of data from the memory area for transmission.

[0048] The non-bus signal simulation module provides an interface for the number of signal outputs; dynamic transmission can be set to a finite number of times or an infinite number of times; one dynamic transmission completes one data transmission from the set start address to the end address. When the finite number of times is selected, the data transmission will automatically stop after the specified number of times. When the infinite number of times is selected, the data will be transmitted continuously until the user manually stops it.

[0049] S2 specifically includes the following steps:

[0050] S21 connects to the non-bus signal simulation module;

[0051] S22, Generate simulated dynamic transmission signal data;

[0052] S23, set the signal data update rate and transmission count;

[0053] S24, load the transmitted signal data to the hardware module;

[0054] S25, Initiate data transmission.

[0055] The functional verification process in S3 follows these steps:

[0056] S31, Select one non-bus module A for dynamic transmission output, and select another high-speed signal acquisition module B to acquire the output signal of the former in real time;

[0057] S32, Module B sets a sampling rate that is greater than twice the update rate of Module A;

[0058] S33, Module A sets the dynamic transmission signal data and sets parameters such as update rate;

[0059] S34, Start module B to collect data, then start module A to send data dynamically;

[0060] S35, Write software to analyze the collected data and determine whether the collected data is the same as that actually sent by module A.

[0061] Example 2:

[0062] This invention relates to a non-bus simulation excitation method for a certain type of unmanned aerial vehicle (UAV). The dynamic simulation excitation involves preparing and storing the UAV test requirements in a pre-defined format in a file. The non-bus signal simulation module periodically reads data from this file and sends it to the module's hardware cache. Then, the module hardware (a sub-module of the non-bus signal simulation module) sends the data sequentially according to a set timing sequence until the buffer is empty. If the amount of data to be sent exceeds the cache space, a cache space query is performed and reported. Data is written when there is free cache space until the data transmission is complete. Figure 1 As shown. Includes the following steps:

[0063] (a) Host computer processing of data to be dynamically sent:

[0064] According to the testing requirements of a certain type of drone Figure 1 After configuring the test data and storing it in an XML file, the software reads the data to be simulated, the upper-level defined interfaces, and the signal data to be dynamically sent from the corresponding XML file during simulation. This data is then written to the hardware as a buffer. Within the allowable range of signal parameters, the user can arrange the content of the buffer as needed. For example, discrete signals can be any combination of "28V, 5V, GND, floating".

[0065] The software provides a configuration interface for the update rate. The update rate is the number of times the transmitted signal data is updated per second, and it is used to control how quickly the signal data to be transmitted from the storage area is sent.

[0066] The software provides an interface for setting the start and end addresses. The start and end addresses limit the data segments that can be dynamically sent, meaning that users can select any segment of data in the storage area to send.

[0067] The software provides an interface for setting the number of signal outputs. Dynamic transmission can be set to a limited number of times or an unlimited number of times. One dynamic transmission completes one data transmission from the set start address to the set end address. When selecting a limited number of times, data transmission will automatically stop after the specified number of times. When selecting an unlimited number of times, transmission will continue until the user manually stops it.

[0068] (b) Storage of dynamically transmitted signal data in the hardware module

[0069] Taking a discrete signal output module as an example, the buffer depth per channel in the SDRAM memory chip is 512KB. The size of this buffer depends on the actual hardware design, and this is the longest dynamically transmitted data that can be written to that channel. Although the buffer of a single channel is less than 1M, the amount of signal data that can be transmitted can be indirectly increased by controlling the number of loops.

[0070] (c) Interaction Interface Design

[0071] The interaction interface refers to the function interface that upper-layer application software can call for the dynamic sending function. See below.

[0072] Table 1 Dynamic Send Function Interface

[0073]

[0074]

[0075] Data dynamic sending function verification

[0076] Functional verification process overview:

[0077] The functional verification process steps are as follows:

[0078] Select one non-bus module—A—for dynamic transmission output, and select another high-speed signal acquisition module—B—to acquire the output signal of the former in real time.

[0079] Module B is set to have a sampling rate that is more than twice the update rate of module A.

[0080] Module A is configured to dynamically send signal data, and parameters such as update rate are set.

[0081] Start module B to collect data, then start module A to send data dynamically;

[0082] Write software to analyze the collected data and determine whether it is the same as what module A actually sent.

[0083] Functional verification process record:

[0084] Taking the digital signal output module as an example, the configuration parameters are as follows:

[0085] For ease of testing, the output terminal outputs two signals—28V and 5V. The actual output is a square wave, where the high level of the square wave is approximately 28V and the low level signal is approximately 5V. The two signals are updated at a rate of 100 times per second.

[0086] The parameters for the data acquisition terminal are configured as follows:

[0087] The data recorded by the acquisition card, and the analysis software marking the time and voltage value of the updated signal, are recorded as follows: The time and voltage values ​​have been rounded up.

[0088] Table 2 Data Collection and Analysis Record Table

[0089]

[0090]

[0091] As shown in the table above, the switch signal output module updates and sends 28V and 5V signals at a rate of 100 times per second, realizing the dynamic transmission function.

[0092] Example 3:

[0093] The present invention will now be described in further detail with reference to the accompanying drawings:

[0094] Host computer processing for dynamically transmitted data:

[0095] According to the testing requirements of a certain type of drone Figure 1 After configuring the test data and storing the configured data in an XML file, the software reads the data to be simulated from the corresponding XML file during simulation. The upper-level defined interface writes the dynamically transmitted signal data as a buffer to the hardware. Within the allowable range of signal parameters, the user can arrange the content of the buffer as needed. For example, discrete signals can be any combination of "28V, 5V, GND, floating".

[0096] The software provides a configuration interface for the update rate. The update rate is the number of times the transmitted signal data is updated per second, and it is used to control how quickly the signal data to be transmitted from the storage area is sent.

[0097] The software provides an interface for setting the start and end addresses. The start and end addresses limit the data segments that can be dynamically sent, meaning that users can select any segment of data in the storage area to send.

[0098] The software provides an interface for setting the number of signal outputs. Dynamic transmission can be set to a limited number of times or an unlimited number of times. One dynamic transmission completes one data transmission from the set start address to the set end address. When selecting a limited number of times, data transmission will automatically stop after the specified number of times. When selecting an unlimited number of times, transmission will continue until the user manually stops it.

[0099] Dynamically transmitted signal data is stored in the hardware module.

[0100] Taking a discrete signal output module as an example, the buffer depth per channel in the SDRAM memory chip is 512KB. The size of this buffer depends on the actual hardware design, and this is the longest dynamically transmitted data that can be written to that channel. Although the buffer of a single channel is less than 1M, the amount of signal data that can be transmitted can be indirectly increased by controlling the number of loops.

[0101] Interaction Interface Design

[0102] The interaction interface refers to the function interface that upper-layer application software can call for the dynamic sending function. See below.

[0103] Table 3 Dynamic Send Function Interface

[0104] Serial Number function name Function 1 DAC_SetParameter Set the DA output parameters. 2 DAC_WaveGen Generate signal data for dynamic transmission 3 Set_Frequency Set channel update rate

[0105] DAC_SetParameter:

[0106] Input parameters: ViSession vi / / Module handle

[0107] ViUInt16 channel / / channel number

[0108] DAC_ChannelParameter_struct DAC_ChannelParameter / / Channel parameter structure

[0109] Output parameters: None

[0110] Return value: 0 is returned if there is sufficient storage space, and the corresponding error code is returned if there is an error.

[0111] The definition of DAC_ChannelParameter_struct is as follows.

[0112] / / DAC channel parameter structure

[0113] typedef struct

[0114] {

[0115] ViUInt32 WaveOutStartAddr; / / Start address of continuous output waveform

[0116] ViUInt32 WaveOutEndAddr; / / Address to end continuous output waveform

[0117] ViReal64 RefreshTime; / / DAC update interval: 0.1ms-1 second, unit: seconds

[0118] ViUInt16 WaveOutNum; / / Waveform output count: 0-65535, where 0 indicates continuous output.

[0119] ViUInt32 WaveOutDelayTime; / / Waveform output delay: 0-16777215 microseconds

[0120] }DAC_ChannelParameter_struct

[0121] DAC_WaveGen:

[0122] Input parameters: ViSession vi — module handle

[0123] ViUInt16 channel — Channel number

[0124] ViUInt16 bufferlength — buffer data length

[0125] ViUInt16 buffer[] — buffer for dynamically transmitted signal data

[0126] Output parameters: None

[0127] Return value: 0 is returned for a correct answer, and the corresponding error code is returned for an error.

[0128] Set_Frequency:

[0129] Input parameters: ViSession vi / / Module handle

[0130] ViUInt32 channel / / channel number

[0131] ViUInt16 Rate / / Channel update rate

[0132] Output parameters: None

[0133] Return value: 0 is returned for a correct answer, and the corresponding error code is returned for an error.

[0134] Data dynamic sending function verification

[0135] Functional verification process overview:

[0136] The functional verification process steps are as follows:

[0137] Select one non-bus module—A—for dynamic transmission output, and select another high-speed signal acquisition module—B—to acquire the output signal of the former in real time.

[0138] Module B is set to have a sampling rate that is more than twice the update rate of module A.

[0139] Module A is configured to dynamically send signal data, and parameters such as update rate are set.

[0140] Start module B to collect data, then start module A to send data dynamically;

[0141] Write software to analyze the collected data and determine whether it is the same as what module A actually sent.

[0142] Functional verification process record:

[0143] Taking the digital signal output module as an example, the configuration parameters are as follows:

[0144] For ease of testing, the output terminal outputs two signals—28V and 5V. The actual output is a square wave, where the high level of the square wave is approximately 28V and the low level signal is approximately 5V. The two signals are updated at a rate of 100 times per second.

[0145] The parameters for the data acquisition terminal are configured as follows:

[0146] The data recorded by the acquisition card, and the analysis software marking the time and voltage value of the updated signal, are recorded as follows: The time and voltage values ​​have been rounded up.

[0147] Table 4 Data Collection and Analysis Record Table

[0148]

[0149] As shown in the table above, the switch signal output module updates and sends 28V and 5V signals at a rate of 100 times per second, realizing the dynamic transmission function.

[0150] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be covered within the protection scope of the present invention.

Claims

1. A non-bus simulation excitation method for unmanned aerial vehicles, characterized in that: The following steps are involved: S1, write the dynamic simulation stimulus into a file of a specific format and store it; S2, the non-bus signal simulation module reads data from the file and sends it to the cache of the module hardware, which then sends it to each non-bus signal sensor one by one according to the timing set in the dynamic simulation stimulus until the cache is cleared; S3, verify the data dynamic sending function.

2. A non-bus simulation excitation method for unmanned aerial vehicles according to claim 1, characterized in that: The file in the specific format is an XML format file.

3. A non-bus simulation excitation method for unmanned aerial vehicles according to claim 2, characterized in that: The non-bus signal simulation module reads the data to be simulated, the interface defined by the upper layer, and the signal data to be dynamically sent from the corresponding XML format file, and writes them into the hardware module in the form of BUFF.

4. The non-bus simulation excitation method for unmanned aerial vehicle according to claim 1 is characterized in that: The non-bus signal simulation module includes an update rate configuration interface, where the update rate is the number of times the signal data is updated per second and is used to control the speed of sending the signal data to be sent in the storage area.

5. A non-bus simulation excitation method for unmanned aerial vehicles according to claim 4, characterized in that: The non-bus signal simulation module provides an interface for setting the start address and the end address. The start address and the end address limit the data segment to be sent dynamically. The user can select any data segment in the storage area to send.

6. A non-bus simulation excitation method for a UAV according to claim 5, characterized in that: The non-bus signal simulation module provides an interface for the number of signal outputs; dynamic transmission can be set to a limited number or an unlimited number of times; one dynamic transmission means completing a data transmission from the set start address to the end address. When a limited number of times is selected, the data transmission stops automatically after the specified number of times; if an unlimited number of times is selected, the data will continue to be sent until the user stops it manually.

7. A non-bus simulation excitation method for a UAV according to claim 6, characterized in that: S2 specifically includes the following steps: S21, connecting a non-bus signal simulation module; S22, generating pseudo-dynamic sending signal data; S23, setting the update rate and sending times of signal data; S24, loading the sending signal data to the hardware module; S25, start data sending.

8. The non-bus simulation excitation method for unmanned aerial vehicle according to claim 1 is characterized in that: The steps of the functional verification process in S3 are as follows: S31, select a non-bus module A to perform dynamic transmission output, and select another high-speed signal acquisition module B to collect the output signal of the former in real time; S32, module B sets the sampling rate to be greater than twice the update rate of module A; S33, module A sets dynamic sending signal data and sets update rate and other parameters; S34, start module B to collect, and then start module A to send dynamically; S35, writing software to analyze the collected data and determine whether the collected data is the same as the data actually sent by module A.

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