Testing system for low-altitude aircraft data link performance

Abstract

This application relates to a testing system for the performance of a low-altitude aircraft data link. A transmission module processes remote control commands sent by a service server via a ground station, based on first test parameters configured by a control module, to obtain target remote control commands. These target commands are then transmitted to the device under test (DUT) via an antenna array. The first test parameters are determined according to the test scenario. The DUT generates first test data based on the target remote control commands and transmits this first test data to the transmission module via the antenna array. The transmission module processes second test data to obtain corresponding target test data and transmits this target test data to the service server via a ground station. The control module determines the aircraft data link performance test result based on the target test data transmitted through the service server. This application's embodiment simulates a complete data link service environment in a laboratory, improving the accuracy of the test results.

Description

Technical Field

[0001] This application relates to the field of testing technology, and in particular to a testing system for the performance of a low-altitude aircraft data link. Background Technology

[0002] As a strategic emerging industry, the low-altitude economy is still in its early stages of development, with a huge market potential. Currently, my country's low-altitude economy is developing rapidly and is widely used in the civilian sector, such as logistics distribution, aerial photography and surveying, and power line inspection. These applications have high requirements for data link performance, requiring reliable, high-speed, and stable data transmission to support functions such as remote control, real-time monitoring, and data feedback.

[0003] Currently, the testing of low-altitude aircraft data links mainly relies on field flight verification. However, the electromagnetic environment and data link environment in the field fluctuate significantly, resulting in poor consistency of the relevant verification results. Summary of the Invention

[0004] Therefore, it is necessary to provide a testing system for low-altitude aircraft data link performance that can improve the accuracy of low-altitude aircraft data link performance results, addressing the aforementioned technical problems.

[0005] In a first aspect, this application provides a testing system for the data link performance of low-altitude aircraft. The testing system includes a control module, a transmission module, a ground station, a service server, an antenna array, a device under test (DUT), a first anechoic chamber, and a second anechoic chamber. The control module is connected to the transmission module and to the ground station via the service server. The DUT is connected to the transmission module via the antenna array, and the ground station is connected to the DUT via the transmission module. The ground station is placed in the first anechoic chamber, and the DUT and the antenna array are placed in the second anechoic chamber.

[0006] The transmission module is used to process the remote control command sent by the service server through the ground station based on the first test parameters configured for the transmission module by the control module, obtain the target remote control command, and send the target remote control command to the device under test through the antenna array; the first test parameters are determined according to the test scenario;

[0007] The device under test is used to generate first test data according to the target remote control command, and send the first test data to the transmission module through the antenna array;

[0008] The transmission module is used to process the second test data to obtain the target test data corresponding to the second test data, and send the target test data to the service server through the ground station; the second test data includes the first test data;

[0009] The control module is used to determine the aircraft data link performance test results based on the target test data sent through the business server.

[0010] In one embodiment, the test system further includes a GNSS simulator, which is linked to the control module and the transmission module;

[0011] The GNSS simulator is used to generate environmental simulation information of the test environment based on the second test parameters configured for the GNSS simulator by the control module; the second test parameters are determined according to the test scenario.

[0012] The transmission module is used to process the environmental simulation information based on the first test parameters to obtain first intermediate environmental simulation information, and to send the first intermediate environmental simulation information to the device under test through the antenna array.

[0013] The device under test is used to generate third test data based on the first intermediate environment simulation information; the second test data includes the third test data.

[0014] In one embodiment, the service server is used to process the first intermediate environment simulation information sent by the transmission module through the ground station to obtain the second intermediate environment simulation information;

[0015] The transmission module is used to process the second intermediate environment simulation information based on the second test parameters to obtain the third intermediate environment simulation information, and to send the third intermediate environment simulation information to the device under test through the antenna array.

[0016] The device under test is used to generate fourth test data based on the first intermediate environment simulation information and the third intermediate environment simulation information; the second test data includes the fourth test data.

[0017] In one embodiment, the test system further includes a HIL bench, which is connected to the device under test and the control module;

[0018] The HIL test bench is used to simulate the interaction process of the functional modules of the aircraft corresponding to the device under test, and to send the interaction data corresponding to the interaction process to the device under test.

[0019] The device under test is used to generate fifth test data based on the interaction data; the second test data includes the fifth test data.

[0020] In one embodiment, the transmission module includes an RF switch matrix, a first frequency converter, a channel simulator, and a second frequency converter; the RF switch matrix, the first frequency converter, the channel simulator, and the second frequency converter are connected in sequence, and the second frequency converter is connected to the GNSS simulator.

[0021] The radio frequency switch matrix is ​​used to filter the first test data to obtain a first radio frequency signal, and send the first radio frequency signal to the first frequency converter power amplifier;

[0022] The first frequency converter is used to amplify the first radio frequency signal to obtain a second radio frequency signal, and send the second radio frequency signal to the channel simulator;

[0023] The channel simulator is used to convert the second radio frequency signal into a first digital signal, modify the phase and amplitude of the first digital signal to obtain a second digital signal, so as to simulate the actual transmission process of the second radio frequency signal, and convert the second digital signal into a third radio frequency signal, and send the third radio frequency signal to the second frequency converter power amplifier;

[0024] The second frequency converter is used to amplify the third radio frequency signal to obtain the target test data.

[0025] In one embodiment, the transmission module further includes a positioning antenna placed in the first anechoic chamber, and the transmission module further includes a first circulator and a plurality of second circulators, a first end of the first circulator being connected to the positioning antenna, and a second end of the first circulator being connected to the radio frequency switch matrix.

[0026] The first end of each of the second circulators is connected to each antenna in the antenna array, and the second end of each of the second circulators is connected to the radio frequency switch matrix.

[0027] In one embodiment, the transmission module further includes a data link antenna, which is placed in the first anechoic chamber;

[0028] The transmission module further includes a third circulator and a fourth circulator. The first end of the third circulator is connected to the data link antenna, and the second end of the third circulator is connected to the second frequency converter power amplifier. The first end of the fourth circulator is connected to the ground station via an RF cable, and the second end of the fourth circulator is connected to the second frequency converter power amplifier.

[0029] In one embodiment, the test system further includes a spectrum analyzer connected to the RF switch matrix and the first frequency converter power amplifier;

[0030] The spectrum analyzer is used to acquire the spectrum information of the transmitted data; the transmitted data includes target remote control commands, second data to be tested, first intermediate environment simulation information, and third intermediate environment simulation information.

[0031] In one embodiment, a sample turntable is provided in the first anechoic chamber, and the device under test is placed on the sample turntable.

[0032] In one embodiment, the antenna array includes a first antenna array, a second antenna array, and a third antenna array; the first antenna array, the second antenna array, and the third antenna array are in a ring structure;

[0033] The first antenna array includes 8 antennas evenly spaced, the second antenna array includes 16 antennas evenly spaced, and the third antenna array includes 8 antennas evenly spaced; the main lobes of the antennas point towards the center of the sample turntable.

[0034] The aforementioned test system for low-altitude aircraft data link performance includes a control module, a transmission module, a ground station, a service server, an antenna array, a device under test (DUT), a first anechoic chamber, and a second anechoic chamber. The control module is connected to the transmission module and, through the service server, to the ground station. The DUT is connected to the transmission module via the antenna array, and the ground station is connected to the DUT via the transmission module. The ground station is placed in the first anechoic chamber, while the DUT and the antenna array are placed in the second anechoic chamber. The transmission module is used to process remote signals transmitted by the service server through the ground station based on first test parameters configured by the control module. The system processes control commands to obtain target remote control commands and transmits these commands to the device under test (DUT) via an antenna array. First test parameters are determined based on the test scenario. The DUT generates first test data based on the target remote control commands and transmits this data to the transmission module via the antenna array. The transmission module processes the second test data to obtain target test data corresponding to the second test data and transmits this target test data to the service server via a ground station. The second test data includes the first test data. The control module determines the aircraft data link performance test results based on the target test data transmitted through the service server. In this embodiment, the transmission module's parameters are configured based on the test environment, simulating a complete data link service environment in the laboratory. This improves test consistency and ensures repeatability, while more closely reflecting actual business conditions and more effectively and accurately measuring the data link communication capabilities of low-altitude aircraft during actual flight activities in the field. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a first schematic diagram of a test system for the data link performance of a drone in one embodiment;

[0037] Figure 2 This is a second schematic diagram of a test system for the data link performance of a drone in one embodiment;

[0038] Figure 3 This is a third schematic diagram of a test system for the data link performance of a drone in one embodiment;

[0039] Figure 4 This is a fourth schematic diagram of a test system for the data link performance of a drone in one embodiment.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1. Control module; 2. Transmission module; 3. Ground station;

[0042] 4. Service server; 5. Antenna array; 6. Device under test;

[0043] 7. First anechoic chamber; 8. Second anechoic chamber; 9. GNSS simulator;

[0044] 10. HIL stand; 11. Spectrum analyzer;

[0045] 201. Radio frequency switch matrix; 202. First frequency converter power amplifier;

[0046] 203. Channel simulator; 204. Second frequency converter power amplifier;

[0047] 205. Positioning antenna; 206. First circulator;

[0048] 207. Second circulator; 208. Data link antenna;

[0049] 209. Third circulator; 210. Fourth circulator;

[0050] 501. First antenna array; 502. Second antenna array;

[0051] 503. Third antenna array. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.

[0054] Figure 1 This is a first schematic diagram of a test system for the performance of a low-altitude aircraft data link in one embodiment, as shown below. Figure 1 As shown, the test system includes a control module 1, a transmission module 2, a ground station 3, a service server 4, an antenna array 5, a device under test (DUT) 6, a first anechoic chamber 7, and a second anechoic chamber 8. The control module 1 is connected to the transmission module 2 and to the ground station 3 via the service server 4. The DUT 6 is connected to the transmission module 2 via the antenna array 5, and the ground station 3 is connected to the DUT 6 via the transmission module 2. The ground station 3 is placed in the first anechoic chamber 7, and the DUT 6 and the antenna array 5 are placed in the second anechoic chamber 8. The transmission module 2 is used to transmit data to the service server 4 via the ground station 3 based on the first test parameters configured by the control module 1 for the transmission module 2. The remote control command is processed to obtain the target remote control command, and then sent to the device under test (DUT) 6 via the antenna array 5. The first test parameter is determined according to the test scenario. The DUT 6 is used to generate the first test data according to the target remote control command and send the first test data to the transmission module 2 via the antenna array 5. The transmission module 2 is used to process the second test data to obtain the target test data corresponding to the second test data, and then send the target test data to the service server 4 via the ground station 3. The second test data includes the first test data. The control module 1 is used to determine the aircraft data link performance test result based on the target test data sent through the service server 4.

[0055] Reference Figure 2 , Figure 2This is a second schematic diagram of a test system for the data link performance of a UAV in one embodiment. The test system mainly includes communication between the device under test (UAV) 6 (low-altitude UAV) and the hangar (ground station 3), and uses satellite navigation for positioning. The test system utilizes an end-to-end full-link test environment to conduct functional and performance tests. The construction of the full-link test environment mainly includes three parts: first, the construction of a low-altitude aircraft business simulation environment; second, the construction of a reconfigurable air interface link environment; and third, the construction of a satellite navigation and positioning simulation environment.

[0056] In this embodiment, the control module 1 can be, for example, a host computer. The control module 1 can acquire the test scenario (i.e., the target scenario to be tested), then generate test parameters based on the test scenario, and configure the transmission module 2 according to the test parameters, so as to perform testing based on the transmission module 2 after parameter configuration. For example, the transmission module 2 can be configured to simulate the attenuation, delay, Doppler, multipath effect, and noise power of related channels during data transmission.

[0057] Control module 1 sends control commands to service server 4. Service server 4 / ground station 3 generates remote control commands based on the control commands and sends them to device under test 6. Channel simulator 203 controls the channel transmission mode (e.g., simulating takeoff and landing scenarios). The UAV generates first test data based on the remote control commands sent by ground station 3. The first test data can be flight control information, image information, etc. Data communication and image transmission connection are established between the UAV and ground station 3. By monitoring the radio spectrum of device under test 6 on the UAV (implemented based on spectrum analyzer 11) and data transmission, scenario-coupled testing of the UAV's flight control and image transmission functions and performance indicators is conducted.

[0058] The antenna array 5 comprises a first antenna array 501, a second antenna array 502, and a third antenna array 503. These three arrays form a ring structure. The first antenna array 501 includes eight antennas at equal intervals, the second antenna array 502 includes sixteen antennas at equal intervals, and the third antenna array 503 includes eight antennas at equal intervals. The main lobes of the antennas point towards the center of the sample turntable. Specifically, the 3D ring antenna array 5 mainly comprises three groups of horizontally ring-shaped antenna arrays 5 (upper, middle, and lower). The first and third antenna arrays 501 each have eight antennas, and their main lobes point towards the center of the second anechoic chamber 8 (the center of the sample turntable), at an angle of 22.5° to the horizontal plane. The second antenna array 502 has sixteen antennas, and its main lobes point towards the center of the anechoic chamber (the center of the sample turntable). This is used for reconstructing the wireless air interface transmission channels between the low-altitude UAV and the ground station 3, and between the low-altitude UAV and the positioning and navigation satellites.

[0059] Optionally, the first anechoic chamber 7 and the second anechoic chamber 8 are multi-probe anechoic chambers (MPAC). The second anechoic chamber 8 includes a 3D ring antenna array 5, a sample turntable, and other wire harnesses and cables. A converter board is installed inside the second anechoic chamber 8 to enable the conversion of signals such as radio frequency, optical fiber, and network cable. The device under test 6 is placed on the sample turntable.

[0060] Optionally, the sample turntable can be a 3D turntable, including 3-axis rotary joints, for simulation and control of UAV flight attitude. The relevant axis movements are mechanically driven, and the relevant materials can be radio frequency transparent in the 100MHz-6GHz band to ensure good transmission of radio frequency signals.

[0061] Optionally, ground station 3 can establish a private link connection with device under test 6 using radio frequency cable conduction or two-segment air interface.

[0062] Optionally, control module 1 needs to control the low-altitude aircraft's operational simulation environment, reconfigurable air interface link environment, and satellite navigation and positioning simulation environment, as well as the background calls of service server 4, to build automated test cases. Therefore, in addition to the test parameter configuration by transmission module 2, service server 4 and ground station 3 both need to be configured with relevant radio frequency link parameters to ensure data connection and service data loading with the UAV. For example, traffic generation and monitoring software is deployed on service server 4, which can connect to ground station 3 to simulate a low-altitude command and dispatch cloud platform, simulating UAV management, control, remote monitoring, data processing, and other business applications, ultimately constructing an end-to-end operational simulation communication environment for low-altitude UAVs.

[0063] The aforementioned test system includes a control module, a transmission module, a ground station, a service server, an antenna array, a device under test (DUT), a first anechoic chamber, and a second anechoic chamber. The control module is connected to the transmission module and, through the service server, to the ground station. The DUT is connected to the transmission module via the antenna array, and the ground station is connected to the DUT via the transmission module. The ground station is placed in the first anechoic chamber, while the DUT and the antenna array are placed in the second anechoic chamber. The transmission module processes remote control commands sent by the service server through the ground station based on first test parameters configured by the control module. The system receives a target remote control command and transmits it to the device under test (DUT) via an antenna array. First test parameters are determined based on the test scenario. The DUT generates first test data based on the target remote control command and transmits it to the transmission module via the antenna array. The transmission module processes the second test data to obtain the corresponding target test data and transmits it to the service server via a ground station. The second test data includes the first test data. A control module determines the aircraft data link performance test result based on the target test data transmitted through the service server. In this embodiment, the transmission module's parameters are configured based on the test environment, simulating a complete data link service environment in the laboratory. This improves test consistency and repeatability, more closely reflects actual business conditions, and more effectively and accurately measures the communication capabilities of the data link when low-altitude aircraft perform actual flight activities in the field.

[0064] Figure 3 This is a third schematic diagram of a test system for low-altitude aircraft data link performance in one embodiment, as shown below. Figure 3 As shown, the test system also includes a GNSS simulator 9, which is linked to the control module 1 and the transmission module 2. The GNSS simulator 9 is used to generate environmental simulation information of the test environment based on the second test parameters configured by the control module 1 for the GNSS simulator 9. The second test parameters are determined according to the test scenario. The transmission module 2 is used to process the environmental simulation information based on the first test parameters to obtain first intermediate environmental simulation information, and send the first intermediate environmental simulation information to the device under test 6 through the antenna array 5. The device under test 6 is used to generate third test data based on the first intermediate environmental simulation information. The second test data includes the third test data.

[0065] In this embodiment, the control module 1 generates environmental simulation information based on the second test parameters of the Global Navigation Satellite System (GNSS) simulator configured in the test environment. For example, the GNSS simulator 9 generates dynamic latitude and longitude, speed, altitude, etc.

[0066] Based on the first test parameters, the transmission module 2 processes the environmental simulation information to obtain first intermediate environmental simulation information, and sends the first intermediate environmental simulation information to the device under test (DUT) 6 through the antenna array 5. The DUT 6 then generates third test data based on the first intermediate environmental simulation information. In other words, the DUT 6 can generate navigation and positioning data based on the environmental simulation information generated by the GNSS simulator 9.

[0067] In an exemplary embodiment, the service server 4 is used to process the first intermediate environment simulation information sent by the transmission module 2 through the ground station 3 to obtain the second intermediate environment simulation information; the transmission module 2 is used to process the second intermediate environment simulation information based on the second test parameters to obtain the third intermediate environment simulation information, and send the third intermediate environment simulation information to the device under test 6 through the antenna array 5; the device under test 6 is used to generate fourth test data based on the first intermediate environment simulation information and the third intermediate environment simulation information; the second test data includes the fourth test data.

[0068] In this embodiment, after the transmission module 2 completes the reconstruction based on the first intermediate environment simulation information, it can also send the information to the ground station 3 via an air interface link. The ground station 3 processes the first intermediate environment simulation information to obtain the second intermediate environment simulation information (for example, it can be a differential positioning signal). The transmission module 2 processes the differential positioning signal to obtain the processed differential positioning signal. The device under test 6 generates navigation and positioning data based on the environment simulation information generated by the GNSS simulator 9 and the differential positioning signal. The device under test 6 sends the navigation and positioning data to the ground station 3 through the transmission module 2.

[0069] In one exemplary embodiment, as described above Figure 3 As shown, the test system also includes a HIL test bench 10, which is connected to the device under test 6 and the control module 1. The HIL test bench 10 is used to simulate the interaction process of the functional modules of the aircraft corresponding to the device under test 6, and to send the interaction data corresponding to the interaction process to the device under test 6. The device under test 6 is used to generate the fifth test data based on the interaction data. The second test data includes the fifth test data.

[0070] In this embodiment, the hardware-in-the-loop (HIL) test bench is connected to the device under test (DUT) 6 to simulate the functions of camera image transmission, LiDAR, or other sensors.

[0071] HIL bench 10 is used to simulate the interaction process of the functional modules of the aircraft corresponding to the device under test 6, and transmits the interaction data corresponding to the interaction process to the device under test 6 through the transmission module 2; the environmental simulation information includes the interaction data.

[0072] Optionally, during the test, the control module 1 can configure the communication interface protocol of the HIL bench 10 according to the test scenario, so as to simulate the interaction process of each functional module under the test scenario based on the configured HIL bench 10.

[0073] The communication interface protocols of HIL bench 10 may include, for example, CAN (Controller Area Network), CAN FD (CAN with Flexible Data rate), LIN (Local Interconnect Network), Flexray, Ethernet, etc.

[0074] Optionally, the control module 1 can also configure parameters such as packet sending interval, packet size, packet quantity, flow type, and flow quantity of the traffic generation and monitoring software in the business server 4 and HIL bench 10 according to the test scenario.

[0075] In one exemplary embodiment, as described above Figure 3 As shown, the transmission module 2 includes an RF switch matrix 201, a first frequency converter power amplifier 202, a channel simulator 203, and a second frequency converter power amplifier 204; the RF switch matrix 201, the first frequency converter power amplifier 202, the channel simulator 203, and the second frequency converter power amplifier 204 are connected in sequence, and the second frequency converter power amplifier 204 is connected to the GNSS simulator 9; the RF switch matrix 201 is used to filter the first test data to obtain a first RF signal, and send the first RF signal to the first frequency converter power amplifier 202; the first frequency converter power amplifier 202 is used for... The first radio frequency signal is amplified to obtain a second radio frequency signal, which is then sent to the channel simulator 203. The channel simulator 203 is used to convert the second radio frequency signal into a first digital signal, modify the phase and amplitude of the first digital signal to obtain a second digital signal, thereby simulating the actual transmission process of the second radio frequency signal. The second digital signal is then converted into a third radio frequency signal, which is sent to the second frequency converter power amplifier 204. The second frequency converter power amplifier 204 is used to amplify the third radio frequency signal to obtain the target test data.

[0076] In this embodiment, the RF switch matrix 201 is used to filter the first test data to obtain a first RF signal, and then send the first RF signal to the first frequency converter power amplifier 202. For example, if the antenna array 5 includes N antennas, the first test data includes N RF signals. The RF switch matrix 201 can filter the N RF signals to obtain M RF signals, i.e., the first RF signal, so that the first RF signal can meet the processing requirements of subsequent devices, and then send the first RF signal to the first frequency converter power amplifier 202.

[0077] The first frequency converter power amplifier 202 is used to amplify the first radio frequency signal to obtain the second radio frequency signal, and send the second radio frequency signal to the channel simulator 203. For example, the first frequency converter power amplifier 202 can amplify M radio frequency signals in the first radio frequency signal and use the amplified M radio frequency signals as the second radio frequency signal.

[0078] The channel simulator 203 converts the second radio frequency signal into a first digital signal, modifies the phase and amplitude of the first digital signal to obtain a second digital signal, so as to simulate the actual transmission process of the second radio frequency signal, and converts the second digital signal into a third radio frequency signal, and sends the third radio frequency signal to the second frequency converter 204.

[0079] The channel simulator 203 is used to send the third radio frequency signal to the second frequency converter 204. The second frequency converter 204 is used to amplify the third radio frequency signal to obtain the target test data.

[0080] The channel simulator 203 has multiple channels, and the attenuation and multipath delay coupling of each channel can be controlled by the control module 1. Together with the 3D loop antenna array 5 and the second anechoic chamber 8, it can be accurately reconstructed in the second anechoic chamber 8.

[0081] Optionally, the control module 1 dynamically configures the channel parameters of the channel simulator 203 according to the flight activities corresponding to the test scenario, and performs dynamic channel reconstruction, which may include multipath effects (delay spread range 0~10μs, root mean square (RMS) delay spread is 1μs, specular reflection component ratio >60%), Doppler frequency shift (maximum ±5kHz (corresponding to flight speed 500km / h@5.8GHz, Jakes model realizes time-varying characteristics), fading model (Nakagami-m distribution (m=0.5~3, simulating rain attenuation (20dB / km) and fog attenuation (0.2dB / km)).

[0082] Optionally, the interference source can be configured to output interference signals in the same and neighboring cell frequency bands, configure the power ratio, control the adjacent channel leakage ratio, and form co-channel and adjacent channel interference; configure the interference source to output a high-power signal (+10dBm) to cover the target frequency band, with a blocking bandwidth >20MHz, to form blocking interference; configure the interference source to simulate lightning interference (rise edge <1μs, pulse width 100μs, energy density -10dBm / MHz), to form pulse interference.

[0083] In one embodiment, as described above Figure 3As shown, the transmission module also includes a positioning antenna 205 and a data link antenna 208. The positioning antenna 205 and the data link antenna 208 are placed in the first anechoic chamber 7. The transmission module 2 also includes a first circulator 206 and multiple second circulators 207. The first end of the first circulator 206 is connected to the positioning antenna 205, and the second end of the first circulator 206 is connected to the radio frequency switch matrix 201. The first end of each second circulator 207 is connected to each antenna in the antenna array 5, and the second end of each second circulator 207 is connected to the radio frequency switch matrix 201. The transmission module 2 also includes a third circulator 209 and a fourth circulator 210. The first end of the third circulator 209 is connected to the data link antenna 208, and the second end of the third circulator 209 is connected to the second frequency converter power amplifier 204. The first end of the fourth circulator 210 is connected to the ground station 3 via a radio frequency cable, and the second end of the fourth circulator 210 is connected to the second frequency converter power amplifier 204.

[0084] In this embodiment, the first test data, the first intermediate environment simulation information, and the third intermediate environment simulation information can all be sent to the device under test 6 through the first circulator 206 corresponding to different antennas.

[0085] The aforementioned first intermediate environment simulation information can also be sent to ground station 3 via second circulator 207, and ground station 3 will then send the first intermediate environment simulation information to service server 4. The aforementioned remote control commands and second intermediate environment simulation information can both be sent to transmission module 2 via third circulator 209 or fourth circulator 210.

[0086] In this embodiment, the uplink and downlink of the test system's data link can be separated and controlled independently using a first circulator, a second circulator, a third circulator, and a fourth circulator. Furthermore, the air interface of the data link (positioning antenna, data link antenna, and antenna array) is located in an anechoic chamber, resulting in a high degree of controllability of the test environment and high test repeatability.

[0087] In one embodiment, as described above Figure 3 As shown, the test system also includes a spectrum analyzer 11, which is connected to the radio frequency switch matrix 201 and the first frequency converter power amplifier 202. The spectrum analyzer 11 is used to acquire the spectrum information of the transmitted data. The transmitted data includes the target remote control command, the second test data, the first intermediate environment simulation information, and the third intermediate environment simulation information.

[0088] In this embodiment, the spectrum analyzer 11 can also analyze the transmitted data between the RF switch matrix 201 and the first frequency converter 202 to obtain spectrum information. For example, it can analyze the second test data to obtain the frequency value, power value, amplitude, etc. of the second test data.

[0089] To provide a clearer description of the embodiments of this application, three specific scenarios are illustrated: drone take-off and landing, drone flight control, and drone GNSS signal deception.

[0090] Scenario 1: Performance test of remote flight control and image status feedback service during takeoff and landing.

[0091] For takeoff and landing scenarios, relevant remote flight control and image status feedback service performance tests were conducted to evaluate the data link performance and quality of the UAV during takeoff and landing. The specific test process is as follows:

[0092] like Figure 4 As shown, the device under test (DUT) 6 is placed on a sample turntable in the second anechoic chamber 8; the HIL test bench 10 is wired to the DUT 6 on the UAV via a bus and power supply line. The ground station 3 is placed in the first anechoic chamber 7, and outputs signals via air interface or conduction, connecting to the link of the channel simulator 203 for processing, and establishing an air interface connection with the DUT 6. The GNSS simulator 9 establishes an air interface connection with the DUT 6 via simulated navigation signals, and tests the UAV's navigation and positioning functions using satellite signals required for simulated flight scenarios.

[0093] For low-altitude takeoff scenarios (the landing scenario can be considered the reverse of the takeoff process), the service server 4 and ground station 3 are configured to send takeoff commands. Upon receiving the takeoff command, the UAV executes the takeoff procedure and maintains a heartbeat link with ground station 3. Simultaneously, the HIL test bench 10 is configured to simulate the data signals of the inertial navigation airborne functional module and image transmission module during takeoff, injecting the data signals into the device under test 6 via a wired connection. Based on the UAV's preset flight trajectory, the GNSS simulator 9 is configured with relevant operating modes, frequencies, signal strength, modulation methods, clock synchronization, and test scenarios, and these parameters dynamically change synchronously with the preset flight trajectory. Based on the UAV's preset takeoff flight trajectory, the channel simulator 203 is configured with test parameters such as attenuation, delay, Doppler effect, multipath effect, and noise power of the relevant channel model. During takeoff, the basic model of the channel simulator 203 is converted from a non-line-of-sight (NLOS) channel to a line-of-sight (LOS) channel. The link attenuation changes from weak to strong, the multipath effect changes from strong to weak, the delay changes from strong to weak, and the Doppler effect changes dynamically in sync with the preset flight trajectory (state of speed and acceleration).

[0094] Configure the relevant parameters such as packet sending interval, packet size, packet quantity, flow type, and flow quantity in the traffic generation and monitoring software of business server 4, HIL bench 10, and ground station 3 to the expected test parameters. For example, send remote control commands from business server 4 to the drone, and the drone sends aircraft operation status data and image transmission data to business server 4.

[0095] RF switch matrix 201 is configured to switch spectrum analyzer 11 to the UAV uplink for monitoring UAV radio transmission performance. This controls each module in the test system to execute according to expected parameters, simulating different service flows under various test scenarios. The quality of data transmission during the execution of these services is monitored, including metrics such as data throughput, latency, jitter, packet loss rate, and retransmission rate. The RF transmission performance of the UAV during high-speed flight and increased distance is also monitored, including sensitivity, transmit power, and spectral characteristics. By quantitatively comparing the service quality of device under test (DUT) 6 under different hardware and software versions, the service quality assurance capability of DUT 6 in specific scenarios can be evaluated. Simultaneously, the application boundaries of the UAV data link system under different service scenarios can be assessed, i.e., under what channel conditions can the corresponding applications be completed.

[0096] The key technical feature of this test embodiment is the creation of highly realistic low-altitude aircraft takeoff and landing scenarios (including changes in channel and satellite positioning environments) in the laboratory, and the verification and evaluation of remote flight control services under this environment. This eliminates the need for actual field operation of the drone, reducing the testing costs for low-altitude drone data link communication functions.

[0097] As can be seen from the above technical solutions, the performance and quality of corresponding data link communication services can be evaluated from various aspects through a complete laboratory simulation environment, as illustrated below:

[0098] Satellite positioning performance: Control commands are sent from the host computer to the GNSS simulator 9, enabling the simulator 9 to generate satellite signals and log information. The channel simulator 203 controls the channel transmission mode and sends this information to the device under test 6. The UAV displays its location on an electronic map based on the satellite signals. By determining the accuracy of the displayed location information, a scenario-coupled test is conducted on the UAV's navigation function and performance indicators.

[0099] (1) Static test: Satellite signals are generated by GNSS simulator 9 to simulate the static navigation position at different locations. The log information generated by the satellite signal is compared with the static position captured by the UAV to determine the integrity and positioning accuracy of the positioning function of the device under test.

[0100] (2) Reacquisition Test: The positioning signal of the UAV is generally weak during the initial stage of takeoff and the final stage of landing, making positioning reacquisition performance crucial. The control channel simulator 203 briefly interrupts the satellite signal, waits for 60 seconds to ensure the device loses positioning, and records the time as T1. The control channel simulator restores the signal, ensuring the signal strength is ≥-130dBm, and records the time as T2. Wait for the device to reposition, and record the time when the device successfully repositions as T3. Calculate the reacquisition time TTFF = T3 - T1. Repeat the above steps multiple times, and statistically analyze the average and maximum values ​​of TTFF.

[0101] (3) Cold Start Test: The cold start test is a test to evaluate the time required for the BeiDou module to achieve its first successful positioning without any prior information (such as position, time, ephemeris, etc.). The UAV may face a cold start situation before takeoff. First, put the device under test (DUT) 6 into a cold start state (i.e., the GNSS simulator 9 first simulates a position A, and when the three-dimensional positioning error of the position information output by DUT 6 does not exceed 100m, the power to DUT 6 is turned off for at least 5 hours); then change the current signal position output by the GNSS simulator 9 (the current signal position must differ from the off position by 500km), turn on the power to DUT 6, and record the time as T1; continuously record the output positioning data at a position update rate of 1Hz. Find the moment when the three-dimensional positioning error of the first 10 consecutive outputs of positioning data does not exceed 100m, and record the time as T2. Calculate the cold start time TTFF = T2 - T1. In the cold start state, DUT 6 should be able to output stable positioning data within the specified time, and the positioning error should meet the relevant standard requirements.

[0102] (4) Hot Start Test: The positioning and navigation hot start test is a test to evaluate the time required for the device to achieve its first normal positioning under known ephemeris, almanac, approximate time and position. Hot start situations may occur before takeoff or during takeoff and landing. First, put the device under test 6 into a hot start state (i.e., the GNSS simulator 9 first simulates a position A, and when the three-dimensional positioning error of the position information output by the device under test 6 does not exceed 100m, turn off the power of the device under test 6 and wait for more than 30 seconds); then the GNSS simulator 9 outputs the same signal position as when the power of the device under test is turned off, turn on the power of the device under test 6, and record the time at this time as T1; continuously record the output positioning data at a position update rate of 1Hz. Find the moment when the three-dimensional positioning error does not exceed 100m for the first 10 consecutive outputs of positioning data, and record the time at this time as T2. Calculate the hot start time TTFF = T2 - T1. Under the hot start state, the device should be able to output stable positioning data within the specified time, and the positioning error should meet the relevant standard requirements.

[0103] (5) Positioning sensitivity test: By controlling the signal attenuation through the channel simulator 203 and changing the navigation and positioning signal received by the device under test 6, the sensitivity of the device under test 6 in receiving positioning information can be further tested, including cold start sensitivity, reacquisition sensitivity and tracking sensitivity.

[0104] (6) Positioning satellite lock number: Satellite signals are generated by GNSS simulator 9 to simulate satellite signals emitted by different satellites. For example, GNSS simulator 9 can be set to simulate satellites to verify whether the satellite is correct when the device under test 6 is positioned.

[0105] Dual-condition test of Global Positioning System (GPS) and BeiDou Navigation Satellite System (BDS): Satellite signals are generated using GNSS simulator 9 to simulate the above conditions with only GPS, only BeiDou satellites, and both BeiDou and GPS satellites present.

[0106] Scenario 2: Positioning accuracy test and evaluation during UAV flight control.

[0107] Ground station 3 is placed inside the first fully anechoic chamber 7. It extracts signals via air interface or conduction, connects to the channel simulator 203 for processing, and establishes an air interface connection with the device under test 6. GNSS simulator 9 establishes an air interface connection with the ground station and the UAV through simulated navigation signals. By simulating satellite signals required for flight activities, it tests the navigation and positioning functions of the UAV.

[0108] For specific UAV flight scenarios, ground station 3 or cloud platform is configured to send remote control commands according to a preset flight trajectory. Upon receiving the commands, the UAV executes the flight control process and maintains a heartbeat link with ground station 3. HIL test bench 10 is configured to simulate the data signals of the inertial navigation airborne functional module and image transmission module during flight, injecting the signals into the UAV's device under test 6 via a wired connection. GNSS simulator 9 is configured with settings consistent with the UAV's preset flight trajectory, including parameters such as GNSS simulator 9's operating mode, frequency, signal strength, modulation method, clock synchronization, and test scenario, which dynamically change synchronously with the preset flight trajectory. Based on the UAV's preset flight trajectory, channel simulator 203 is configured with parameters such as channel model attenuation, delay, Doppler, multipath effect, and noise power. During flight, it receives signals transmitted from ground station 3 via different paths. The link attenuation of signals along different paths changes with the flight trajectory (simulating the UAV switching between different channels), and the Doppler effect dynamically changes synchronously with the preset flight trajectory (velocity and acceleration status).

[0109] Configure a real-time dynamic differential positioning (RTK) data synchronization program between HIL test bench 10 and ground station 3. For example, the second intermediate environment simulation information (corrected data or collected carrier phase observations) is sent from ground station 3 to the UAV via transmission module 2. The second intermediate environment simulation information received by the UAV is used to perform phase differential positioning with the first intermediate environment simulation information sent by GNSS simulator 9, and the final positioning data is obtained through HIL test bench 10.

[0110] The various instruments in the control test system execute according to expected parameters, simulating different service flows under different test scenarios. The accuracy of relevant real-time positioning data is monitored during the execution of the set service scenarios. By quantitatively comparing the service quality of device under test (DUT) 6 under different hardware and software versions, the service quality assurance capability of DUT 6 in specific scenarios is evaluated. Simultaneously, the application boundaries of the test system under different service scenarios can also be assessed, i.e., under what channel conditions can the corresponding applications be completed.

[0111] This test implementation displays the 3D information and test case status of the test scenario in real time on the host computer. The UAV's planar coordinates are then converted to latitude and longitude coordinates, and the parameters of the GNSS simulator 9 are configured accordingly. Based on this information, the GNSS simulator 9 simulates navigation and positioning signals from satellite navigation systems such as BDS / GPS, simultaneously transmitting the data to the ground station and the UAV. The ground station 3 generates differential observation data and outputs the data to the UAV in a standard RTCM data protocol format. Upon receiving this data, the UAV performs calculations and processing based on its positioning algorithm. The processed data is then sent to the host computer for comparison and analysis with the raw data from the scenario simulation software, thereby providing an objective evaluation of the positioning algorithm's testing and verification.

[0112] Scenario 3: Evaluation of the relevant functions of drones in GNSS signal deception scenarios.

[0113] For GNSS signal decoy scenarios, relevant preset functional tests and verifications were conducted to evaluate the functional safety and quality of the UAV during flight operations. The specific test process is as follows:

[0114] Ground station 3 is placed inside the first fully anechoic chamber 7. Signals are extracted via air interface or conduction and connected to the channel simulation processing link for air interface connection with the UAV. GNSS simulator 9 establishes an air interface connection with the UAV by simulating navigation signals. It tests the UAV's navigation and positioning functions using satellite signals required for simulated flight scenarios. For UAV GNSS signal decoy scenarios, ground station 3 or a cloud platform is configured to send remote control commands according to a preset flight trajectory. Upon receiving the commands, the UAV executes the flight control process and maintains a heartbeat link with ground station 3 or the cloud platform.

[0115] For GNSS signal decoy scenarios, the HIL test bench 10 is configured to simulate the data signals of the inertial navigation airborne functional module and image transmission module during flight. These signals are injected into the UAV's device under test (DUT) 6 via a wired connection. Configurations deviating from the aircraft's preset flight trajectory are set, including parameters such as the GNSS simulator 9's operating mode, frequency, signal strength, modulation method, clock synchronization, and test scenario, which dynamically change synchronously with the preset flight trajectory. Based on the aircraft's preset flight trajectory, parameters such as channel model attenuation, delay, Doppler, multipath effect, and noise power are configured in the channel simulator 203. During flight, signals transmitted via different paths from the ground station are received. The link attenuation of signals along different paths changes with the flight trajectory (simulating the UAV switching between different channels), and the Doppler effect dynamically changes synchronously with the preset flight trajectory (speed and acceleration status). Parameters such as packet interval, packet size, packet quantity, flow type, and flow quantity in the traffic generation and monitoring software of the service server 4, HIL test bench 10, and ground station 3 are configured to the expected test parameters. For example, the ground station sends flight control command data to the drone, and the drone sends aircraft operation status data and image transmission data to the business server 4.

[0116] In the control test system, various instruments and meters execute according to expected parameters, simulating different service flows under different test scenarios. The system monitors the data transmission quality performance during the execution of the set service flows, including metrics such as data throughput, latency, jitter, packet loss rate, and retransmission rate. By quantitatively comparing the service quality performance of the device under test (DUT) under different hardware and software versions, the system evaluates the DUT's service quality assurance capabilities in specific scenarios. Simultaneously, it also assesses the application boundaries of the test system under different service scenarios, i.e., under what channel conditions can the corresponding applications be completed.

[0117] The key technical feature of this test embodiment is the creation of a highly realistic GNSS signal spoofing scenario for low-altitude aircraft in the laboratory. By using a GNSS simulator 9 to provide false positioning signals to the device under test (DUT), the test can evaluate whether the UAV can identify the GNSS spoofing signals through ground station network positioning and inertial navigation system (INS) positioning, thereby verifying and evaluating the functional safety and quality of the UAV. This eliminates the need for actual UAV operation in the field, reducing the testing cost for the data link communication function of low-altitude UAVs.

[0118] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.

[0119] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0120] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.

[0121] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0122] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A testing system for the performance of a data link in a low-altitude aircraft, characterized in that, The test system includes a control module, a transmission module, a ground station, a service server, an antenna array, a device under test (DUT), a first anechoic chamber, and a second anechoic chamber. The control module is connected to the transmission module and to the ground station via the service server. The DUT is connected to the transmission module via the antenna array, and the ground station is connected to the DUT via the transmission module. The ground station is placed in the first anechoic chamber, and the DUT and the antenna array are placed in the second anechoic chamber. The transmission module is used to process the remote control command sent by the service server through the ground station based on the first test parameters configured for the transmission module by the control module, obtain the target remote control command, and send the target remote control command to the device under test through the antenna array; the first test parameters are determined according to the test scenario; The device under test is used to generate first test data according to the target remote control command, and send the first test data to the transmission module through the antenna array; The transmission module is used to process the second test data to obtain the target test data corresponding to the second test data, and send the target test data to the service server through the ground station; the second test data includes the first test data; The control module is used to determine the aircraft data link performance test results based on the target test data sent through the business server.

2. The testing system according to claim 1, characterized in that, The testing system also includes a GNSS simulator, which is linked to the control module and the transmission module. The GNSS simulator is used to generate environmental simulation information of the test environment based on the second test parameters configured for the GNSS simulator by the control module. The second test parameter is determined based on the test scenario; The transmission module is used to process the environmental simulation information based on the first test parameters to obtain first intermediate environmental simulation information, and to send the first intermediate environmental simulation information to the device under test through the antenna array. The device under test is used to generate third test data based on the first intermediate environment simulation information; the second test data includes the third test data.

3. The testing system according to claim 2, characterized in that, The service server is used to process the first intermediate environment simulation information sent by the transmission module through the ground station to obtain the second intermediate environment simulation information. The transmission module is used to process the second intermediate environment simulation information based on the second test parameters to obtain the third intermediate environment simulation information, and to send the third intermediate environment simulation information to the device under test through the antenna array. The device under test is used to generate fourth test data based on the first intermediate environment simulation information and the third intermediate environment simulation information; the second test data includes the fourth test data.

4. The testing system according to claim 2, characterized in that, The testing system also includes a HIL bench, which is connected to the device under test and the control module. The HIL test bench is used to simulate the interaction process of the functional modules of the aircraft corresponding to the device under test, and to send the interaction data corresponding to the interaction process to the device under test. The device under test is used to generate fifth test data based on the interaction data; The second test data includes the fifth test data.

5. The testing system according to claim 2, characterized in that, The transmission module includes an RF switch matrix, a first frequency converter, a channel simulator, and a second frequency converter; the RF switch matrix, the first frequency converter, the channel simulator, and the second frequency converter are connected in sequence, and the second frequency converter is connected to the GNSS simulator. The radio frequency switch matrix is ​​used to filter the first test data to obtain a first radio frequency signal, and send the first radio frequency signal to the first frequency converter power amplifier; The first frequency converter is used to amplify the first radio frequency signal to obtain a second radio frequency signal, and send the second radio frequency signal to the channel simulator; The channel simulator is used to convert the second radio frequency signal into a first digital signal, modify the phase and amplitude of the first digital signal to obtain a second digital signal, so as to simulate the actual transmission process of the second radio frequency signal, and convert the second digital signal into a third radio frequency signal, and send the third radio frequency signal to the second frequency converter power amplifier; The second frequency converter is used to amplify the third radio frequency signal to obtain the target test data.

6. The testing system according to claim 5, characterized in that, The transmission module further includes a positioning antenna, which is placed in the first anechoic chamber. The transmission module also includes a first circulator and a plurality of second circulators. The first end of the first circulator is connected to the positioning antenna, and the second end of the first circulator is connected to the radio frequency switch matrix. The first end of each of the second circulators is connected to each antenna in the antenna array, and the second end of each of the second circulators is connected to the radio frequency switch matrix.

7. The testing system according to claim 5, characterized in that, The transmission module further includes a data link antenna, which is placed in the first anechoic chamber; The transmission module further includes a third circulator and a fourth circulator. The first end of the third circulator is connected to the data link antenna, and the second end of the third circulator is connected to the second frequency converter power amplifier. The first end of the fourth circulator is connected to the ground station via an RF cable, and the second end of the fourth circulator is connected to the second frequency converter power amplifier.

8. The testing system according to claim 5, characterized in that, The test system also includes a spectrum analyzer, which is connected to the RF switch matrix and the first frequency converter power amplifier. The spectrum analyzer is used to acquire the spectrum information of the transmitted data; the transmitted data includes target remote control commands, second data to be tested, first intermediate environment simulation information, and third intermediate environment simulation information.

9. The testing system according to claim 1, characterized in that, A sample turntable is provided in the first anechoic chamber, and the device under test is placed on the sample turntable.

10. The testing system according to claim 9, characterized in that, The antenna array includes a first antenna array, a second antenna array, and a third antenna array; the first antenna array, the second antenna array, and the third antenna array are in a ring structure. The first antenna array includes 8 antennas evenly spaced, the second antenna array includes 16 antennas evenly spaced, and the third antenna array includes 8 antennas evenly spaced; the main lobes of the antennas point towards the center of the sample turntable.

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