CN105759146A - Onboard fault locating system for ICNI device - Google Patents
Onboard fault locating system for ICNI device Download PDFInfo
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- CN105759146A CN105759146A CN201610171983.4A CN201610171983A CN105759146A CN 105759146 A CN105759146 A CN 105759146A CN 201610171983 A CN201610171983 A CN 201610171983A CN 105759146 A CN105759146 A CN 105759146A
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Abstract
The invention provides an onboard fault locating system for an ICNI device and aims at providing a fault locating system accurate in localization, stable and reliable, and operable via a graphical interface. A technical scheme of the invention is that a data acquisition analysis subsystem acquires the operating state parameters of circuit modules in each LRU or LRM of the ICNI device, filters and analyzes data of a selected sensor function, and circularly updates data content to a human-machine graphical interface; a resource scheduling parameter configuration subsystem simulates an avionic system in order to send control and parameter configuration commands to the ICNI device, and may flexibly select a universal module and a hardware channel used by an internal functional threading of the ICNI device according to a locating requirement; a simulated failure injection subsystem constructs interface control data of a fault according to a requirement, injects the fault into any internal module or channel of the ICNI device, issues the fault to the ICNI device, queries the modified fault content of the ICNI device, triggers an ICNI reconstruction mechanism, and locates and checks sensor function and module faults.
Description
Technical field
The present invention relates to a kind of system being applicable to set up synthesization communication and navigation identification equipment (ICNI) test environment and fault location aboard.
Background technology
Communication, navigation, identification (CNI) equipment are important component parts in avionics system, and along with electronic technology develops rapidly, its technology develops to synthesization, modularity, digitized direction.The CNI equipment of synthesization and traditional CNI equipment have sizable difference.Traditional CNI equipment is based on device level designed system, and the CNI equipment of synthesization is based on general module, and the redundancy backup of reinforcement equipment and Resources re engineering are to improve sensor function, to perform the redundancy of task and the system of reliability.ICNI has three kinds of working methods: one is normal operation mode, and which provides whole abilities to work of system, and its display controls to be completed by avionics task management system；Two is back-up job mode, when aircraft avionics bus system breaks down, the display of Standby control box completion system controls；Three is emergency mode, and when aircraft power system fault or core processing extension set catastrophe failure, ICNI provides only ultrashort wave Speech Communication function, and its display controls to be completed by Standby control box.The reconstruct of ICNI equipment has both of which: one is task reconfiguration, i.e. generic resource time-sharing multiplex, completes as far as possible many functions with as far as possible few general module；Two is failure reconfiguration, and namely after generic resource breaks down, system carries out Resources re engineering according to function priority, makes system have fault-tolerant ability.Failure reconfiguration process relates to detecting fault, Fault Isolation, program loads, switch switches.
Due to ICNI synthesization, modularity, original base level, Relay and Base Level three grades maintenance system are no longer applicable, and base level maintenance is mainly fault location to LRM and is changed and verify.The condition maintenarnce of ICNI seeks to utilization and safeguards that built in test surveys (MBIT), ICNI status information on aircraft is reached Maintenance Information Center and carries out integrated treatment, form rational maintenance project；Also to develop ground PHM system, use historical information to carry out integrated treatment MBIT information, performance detection information, module on machine, form prognostic and health management ability, it is achieved become more meticulous maintenance.For ICNI equipment feature, test system not only to test extension set, also deeply to test the module within Integrated system.Thus the test of ICNI equipment and fault location can be made more complicated, the system integration of equipment under test, fault detect and isolating power are proposed requirements at the higher level.
New feature for ICNI, it is necessary to improve its maintenance support countermeasure.Maintenance support technological means mainly includes, and 1) detection means, organlzational level support utilizes MBIT and is aided with outfield synthetic inspection tester, and function and key performance thereof to ICNI equipment carry out on-line checking, and Fault Isolation is navigated to LRM；Field maintenance adopts detecting instrument or synthesization detection system that the over-all properties index of LRM carries out offline inspection, repairs fault LRM.But, organlzational level support existing Field Test Set device is substantially the special somascope of discrete, kind is many, quantity is big, it is necessary to develop by the ICNI overall checkout equipment in instrument outfield, internal field, both existing detecting instrument function can have been integrated, the all functions of qualitative examination ICNI, again can its key performance of quantitative check, thus strengthening maintainability and rapid deployment ability.2) Means of Ensuring, maintenance support information can not pass through network sharing in time, and fault diagnosis operation cannot obtain information and technical support easily by network.Troubleshooting method is in association type CNI system, and a corresponding CNI function of LRU, a certain disabler and a certain LRU fault exist corresponding relation.But ICNI is then different, function is likely to have been combined by the multiple LRM being dispersed in multiple cabinet, and during a certain functional fault, Restructuring Module will occur system.Therefore, some functional fault, not easily determine the malfunctioning module of correspondence；A certain module failure, because reconstruct does not affect functional task, adds that MBIT exists certain false alarm rate so that some " stealthy " faults hide.According to the above feature of ICNI equipment, test and the malfunction elimination method of current ICNI equipment aboard adopt two ways: the first is by residing in the survey of the Power-On Self-Test of ICNI device interior, cycle Autonomous test and safeguarding self-checking function, according to testability index requirement, three kinds of self-monitoring fault detect rate minimum acceptable values are 80%, by minimum for the Percent Isolated of Fault Isolation to, two, three LRUs be 90%；But adopt the method can not reach whole coverings of 100%；The second is the method for spare part troubleshooting, i.e. plug module, replacing spare part, observes whether fault reappears or suspected malfunctions module is taken out, is tested by the independent debugger of module or extension set；Owing to plug operation is relatively difficult aboard, simultaneously after taking out module, fault possibility cannot reappear, and to distinguish hardware and software failure, so adds difficulty to troubleshooting fault on machine.
At present, both at home and abroad that the research treatise of ICNI equipment fault location is less, focus primarily upon research detector or synthetic incentive device, these instruments provide rf excitation signal principally for ICNI equipment, there is provided wirelessly or non-wirelessly to logical test, can not meet to functions such as the control of ICNI equipment, status polls on machine, remaining and reconfiguration technique cannot be passed through simultaneously, be effectively isolated and diagnose some exceptional fault.
Summary of the invention
It is an object of the invention to reach 100% for existing self test failure verification and measurement ratio and Percent Isolated, spreadability can not test and configure the weak point of ICNI equipment only by the avionics system on machine comprehensively, there is provided a kind of simple to operate, accurate positioning, extension flexible, fault location system that is reliable and stable, that can be operated by graphic interface.
The purpose of the present invention can be reached by following measures.Fault location system on the machine of a kind of ICNI equipment, including: data collection and analysis subsystem, scheduling of resource parameter configuration subsystem and simulated failure inject subsystem, it is characterized in that: data collection and analysis subsystem passes through CAN, the cycle data of each function thread of ICNI device interior will be gathered, deliver to the cycle sensor of avionics system, and gather the working status parameter of circuit module in each Field Replaceable Unit of ICNI device interior (LRU) or line replaceable module (LRM), various data and the work state information of ICNI equipment is obtained for scheduling of resource parameter configuration subsystem, the sensor function currently chosen is carried out data filtering, and resolve according to data format and content, circulate more new data content to man-machine graphical interfaces；ICNI equipment is sent and controls and parameter configuration order by scheduling of resource parameter configuration subsystem simulation avionics system, and the general module and the hardware corridors that use ICNI device interior function thread select, and configuration ICNI equipment is in normal duty；Simulated failure is injected subsystem and is built the Interface Controller data of simulated failure as required, fault is injected to ICNI device interior operational blocks which partition system or passage, it is issued to ICNI equipment by scheduling of resource parameter configuration subsystem, the defect content after ICNI apparatus modifications is inquired by data collection and analysis subsystem, trigger ICNI Reconstruction Mechanism, sensor function and module failure are positioned and investigation.
The present invention has the advantages that compared to prior art
Simple to operate.Operator can conveniently by the graphical interfaces of main control computer, realize functions such as the configuration of ICNI equipment, fault location: each extension set and the situation of the used module of function can be inquired about, inquiry general module redundant state, the situations such as inquiry malfunctioning module, and analyze result by man machine interface output；Hardware path needed for system sensor function can be carried out state configuration and management；The each functional parameter of ICNI equipment can be configured and revise, control its duty；The various sensing datas that ICNI device periodically reports can be shown in real time, and the data of system acquisition are analyzed；Health status according to system and redundant resource state, be reconstructed ICNI Device-General module or passage.
Accurate positioning.Each for ICNI device interior function thread is delivered to the cycle data of avionics system by data collection and analysis subsystem of the present invention by CAN collection, gather the working status parameter of circuit module in internal each extension set, various data and the work state information of ICNI equipment is obtained for scheduling of resource parameter configuration subsystem, the sensor function currently chosen is carried out data filtering, and resolve according to data format and content, circulate more new data content to man-machine graphical interfaces；Simulated failure is injected subsystem and is built the Interface Controller data of simulated failure as required, it is issued to ICNI equipment by scheduling of resource parameter configuration subsystem, the defect content after ICNI apparatus modifications is inquired by data collection and analysis subsystem, trigger ICNI Reconstruction Mechanism, sensor function and module failure are positioned and investigation, and accurate positioning is reliable.
The present invention adopts the comprehensive task datatron of avionics system on analog machine, the avionics 1553B bus of disengaging aircraft, the mode constant with other interface of aircraft, completely self-contained ICNI equipment is powered on, cycle and maintenance state Autonomous test, thus the malfunction elimination method on existing machine that solves can not isolate other avionics system on ICNI equipment and machine would be likely to occur the problem of fault, other subsystem information interactive interface of such as cable and aircraft etc..Can departing from avionics system autonomous configuration ICNI equipment, fault detect rate and Percent Isolated to ICNI equipment all realize 100% and all standing test.
Extension is flexibly.ICNI equipment is sent all of control and parameter configuration order by scheduling of resource parameter configuration subsystem of the present invention simulation avionics system, and any general module that ICNI device interior function thread is used configures and selects；Simulated failure is injected subsystem and is reported by analog IC NI module failure, triggers the Reconstruction Mechanism of ICNI equipment, gets rid of possible suspected malfunctions, and can fully verify the state completeness changing module in outfield.Any period can be selected to report the sensing data of ICNI equipment according to graphical interfaces, such as compass, beacon, altimeter, TACAN etc., compared with existing machine passing through fly ginseng display data collection, it is possible to the degree of depth shows more sensing data, and display mode is more flexible.Scheduling of resource parameter configuration subsystem can the resource such as generic reception module needed for flexible configuration ICNI device interior sensor, general stimulating module, power amplifier module and signal processing module, investigate module failure with multiple means, solve on existing machine resource distribution only in the problem of fixing resource distribution and parameter configuration mode.
Reliable and stable.Data collection and analysis subsystem of the present invention is gathered the cycle data of ICNI device interior each function thread by CAN, is delivered to the cycle sensor data of avionics system by 1553B bus collection, gathers the working status parameter of circuit module in internal each extension set, reduce fault location system and ICNI equipment room bus branch and route as far as possible, it is joined directly together with ICNI equipment, eliminates the interference that external cable is likely to test system is brought；Due to ICNI equipment radio frequency interface duplex, ground service usually needs artificial plug antenna to position fault, simulated failure of the present invention is injected subsystem and is entirely through software instruction stream mode to ICNI device interior operational blocks which partition system or passage injection fault, after status poll, by judging that the re-configurability of ICNI equipment comes whether detection module performance indications decline or whether lost efficacy, this can be effectively improved ground crew's malfunction elimination and a line supportability, avoid the index decline situation that artificial plug antenna brings, thus reliable and stable eliminating and location fault.
The present invention is applicable to ICNI equipment is set up test environment and malfunction elimination aboard.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, patent of the present invention is further illustrated.
Fig. 1 is fault location system structural principle schematic diagram on the machine of ICNI equipment of the present invention.
Fig. 2 is the flow chart of Fig. 1 data collection and analysis subsystem.
Fig. 3 is the flow chart of Fig. 1 scheduling of resource parameter configuration subsystem.
Fig. 4 is the flow chart that Fig. 1 simulated failure injects subsystem.
Fig. 5 is the software interface of fault location system on Fig. 1 ICNI equipment machine.
Detailed description of the invention
Consult Fig. 1.In the fault location system of ICNI equipment, each functional software is resident and run on main control computer.Operating with of the present invention adopts graphical visual interface completely, operator's graphical interfaces by main control computer, completes the function such as the fault location to ICNI equipment and configuration.On the machine of ICNI equipment, fault location system is divided into the content of three aspects, and respectively data collection and analysis subsystem, scheduling of resource parameter configuration subsystem and simulated failure inject subsystem.
Data collection and analysis subsystem shows module and sensor resource state in each extension set of ICNI equipment, knows state actual for each LRM or LRU in ICNI equipment, gather ICNI device interior cycle data by CAN and delivered to the cycle data of outside by 1553B bus collection ICNI equipment, and resolving.Scheduling of resource parameter configuration subsystem is broadly divided into sensor resource scheduling and sensor parameters configuration, scheduling of resource is general module or the passage of each function thread employing of rational management ICNI equipment, the upper avionics system of simulation sends the parameter that avionics order sensors configured adopts simultaneously, and ICNI equipment completes the passback order after parameter updates resolves.Simulated failure is injected subsystem and is reported by analog IC NI module failure, triggers ICNI Reconstruction Mechanism, sensor function and module failure are positioned and investigation.Simulated failure is injected subsystem and is divided into automatic imitation direct fault location and manual simulated failure to inject, and it is by fault mode data base that automatic fault is injected, and injects outfield fault in typically, and it is that artificial freedom and flexibility select module failure to inject that manual simulated failure is injected.Wherein, data collection and analysis subsystem is that scheduling of resource parameter configuration subsystem obtains the various data of ICNI equipment and work state information, and circulate more new data content to man-machine graphical interfaces；ICNI equipment is sent and controls and parameter configuration order by scheduling of resource parameter configuration subsystem simulation avionics system, the general module that ICNI device interior function thread is used configures and the selection of redundant channel or module, according to the status information that data collection and analysis subsystem software instruction continuous query arrives, configuration ICNI equipment is in normal duty；Simulated failure is injected subsystem and is built the Interface Controller data of simulated failure as required, fault is injected to ICNI device interior operational blocks which partition system or passage, it is issued to ICNI equipment by scheduling of resource parameter configuration subsystem, the defect content after ICNI apparatus modifications is inquired by data collection and analysis subsystem, trigger ICNI Reconstruction Mechanism, sensor function and module failure are positioned and investigation.
Consult Fig. 2.Data collection and analysis subsystem adopts graphical interfaces mode of operation, gathers ICNI device interior cycle data by CAN and is delivered to the cycle data of outside by 1553B bus collection ICNI equipment.In the analysis process of data collection and analysis subsystem, whether data collection and analysis subsystem first determines whether the data form collected and verifies normal, if the data check collected is abnormal, then on interface, video data gathers fault.If the data of data form and agreement are normal, then continue to data, the sensor function according to Different sampling period, constantly receive new data, if not new data, then return to waiting for receiving new data, if it is determined that be new data, then cross filter data and read wherein valid data content, when crossing filter data, judge that whether this cycle data is the data that current function should resolve, if not the data that currently should resolve, then give up these data；If the data of current setting function, then resolution data, update content is to graphical interfaces.According to user operation, data above sampling process decides whether that circulation carries out.According to interface operation, module and functional status in each extension set of ICNI subsystem can be shown: normal, fault or without response；As needed in state resolution interface starting state analytical capabilities, know the state of each LRM or LRU reality in ICNI subsystem, know the state that sensor resource function is actual；Sensor resource inquiry is similar with LRU and LRM querying flow figure, first according to interface operation, carries out sensor resource functional status inquiry.ICNI subsystem is sent status inquiry command by data collection and analysis subsystem, after receiving return data, according to return data more new module and functional status table, if confiscating return data, then on interface, prompting, without response, if normally receiving return data, updates graphical interfaces.Specifically at the Fig. 5 [renewal] button real-time query module status by right side, or carry out continuous Query module status by [cycle renewal] button；Can choosing the state of function by real-time query by [function BIT] button on the right side of graphical interfaces, it returns result and show in the list box on right side, or passes through the functional configuration information of [renewal] button real-time query ICNI equipment on right side.The state of all modules in ICNI equipment can be inquired about, include the module of the power supply of core extension set, acoustic board, state plate, interface board, core board, data board, avionics plate and redundancy backup respectively；Combine the frequency source of extension set 1, altimeter, stimulating module, receiver module, compass beacon module, shortwave, interface board, power supply and character matrix；Combine the frequency source of extension set 2, stimulating module, receiver module, microwave landing module, interface board, signal plate, power supply and character matrix；The power amplifier of UV antenna extension set, antennal interface, radio frequency matrix and power supply；The power amplifier of LB antenna extension set, antennal interface, power supply, radio frequency matrix；Comprise additionally in 3 LRU equipment: shortwave sky tune, shortwave power amplifier and aobvious control box.
Consult Fig. 3.nullIn scheduling of resource parameter configuration subsystem flow process，Scheduling of resource parameter configuration subsystem builds resource thread and configuration parameter according to man machine interface，Carry out scheduling of resource according to resource thread and configuration parameter rationally to judge or parameter configuration rationally judges，When entering scheduling of resource flow process，Share and issue of priority owing to resource relates to，Scheduling of resource parameter configuration subsystem carries out scheduling of resource and rationally judges，First determine whether that whether the scheduling of resource selected by interface is reasonable，If rationally，Then send resource thread scheduling order，Or it is unreasonable，There is resource contention，Then prompting reports an error，After sending scheduling of resource order，Resource thread state after query scheduling，If not receiving acknowledgment of your inquiry character (ACK)，Then prompting reports an error，After the set time，If receiving resource thread scheduling passback ACK，On interface, then update display resource thread，Thus completing once complete resource distribution operation.Scheduling of resource parameter configuration subsystem is specifically divided into functional configuration order, functional inquiry order and functional status passback order.When entering parameter configuration flow process, scheduling of resource parameter configuration subsystem first determines whether that whether parameter configuration is reasonable, if unreasonable, then prompting reports an error, if rationally, then send parameter configuration order, after sending parameter configuration prompt command, the function thread parameter after query modification, if confiscating the ack msg that querying command is corresponding, prompting reports an error, if the ack msg that querying command is corresponding can be received, then updates display resource configuration parameter on graphical interfaces.Resource configuration parameter be mainly main control computer simulation avionics comprehensive task processor (MMP) by 1553B data/address bus send avionics order be controlled, and ICNI equipment is completed parameter update after passback order resolve.The Detail Design Requirement of ICNI is designed by the bus block mark of avionics order fully according to avionics.Parameter configuration function is broadly divided into functional parameter amendment, systematic parameter amendment and DTE parameter and loads.
Consult Fig. 4.Inject subsystem simulated failure in simulated failure and inject in flow process, first simulated failure injects subsystem is create direct fault location pattern according to interface input, direct fault location pattern has 2 kinds of modes, and one is to be automatically injected fault by fault mode data base, and one is artificial unrestricted choice fault mode.Simulated failure injects subsystem after interface has selected failure mode, first the effectiveness of fault mode is checked, it may be judged whether rationally, if validity check is not passed through, then report an error process, if fault mode effectiveness passes through, then sends fault mode to ICNI equipment, after waiting for a period of time, updating sensor function state and module status, if the state of renewal can not be received, then prompting reports an error, if receiving the state after renewal, then real state after showing renewal.Specifically used is realize the direct fault location to module specific fault point by [fault/recovery] button in Fig. 5 and recover function, shows concrete module failure point in the list box on right side simultaneously.
Claims (10)
1. fault location system on the machine of an ICNI equipment, including: data collection and analysis subsystem, scheduling of resource parameter configuration subsystem and simulated failure inject subsystem, it is characterized in that: data collection and analysis subsystem passes through CAN, the cycle data of each function thread of ICNI device interior will be gathered, deliver to the cycle sensor of avionics system, and gather the working status parameter of circuit module in each Field Replaceable Unit of ICNI device interior (LRU) or line replaceable module (LRM), various data and the work state information of ICNI equipment is obtained for scheduling of resource parameter configuration subsystem, the sensor function currently chosen is carried out data filtering, and resolve according to data format and content, circulate more new data content to man-machine graphical interfaces；ICNI equipment is sent and controls and parameter configuration order by scheduling of resource parameter configuration subsystem simulation avionics system, and the general module and the hardware corridors that use ICNI device interior function thread select, and configuration ICNI equipment is in normal duty；Simulated failure is injected subsystem and is built the Interface Controller data of simulated failure as required, fault is injected to ICNI device interior operational blocks which partition system or passage, it is issued to ICNI equipment by scheduling of resource parameter configuration subsystem, the defect content after ICNI apparatus modifications is inquired by data collection and analysis subsystem, trigger ICNI Reconstruction Mechanism, sensor function and module failure are positioned and investigation.
2. fault location system on the machine of ICNI equipment as claimed in claim 1, it is characterised in that in the fault location system of ICNI equipment, each functional software is resident and run on main control computer.
3. fault location system on the machine of ICNI equipment as claimed in claim 1, it is characterized in that, data collection and analysis subsystem shows module and sensor resource state in each extension set of ICNI equipment, knows state actual for each LRM or LRU in ICNI equipment, gather ICNI device interior cycle data by CAN and delivered to the cycle data of outside by 1553B bus collection ICNI equipment, and resolving.
4. fault location system on the machine of ICNI equipment as claimed in claim 1, it is characterized in that, scheduling of resource parameter configuration subsystem is broadly divided into sensor resource scheduling and sensor parameters configuration, scheduling of resource is general module or the passage of each function thread employing of rational management ICNI equipment, the upper avionics system of simulation sends the parameter that avionics order sensors configured adopts simultaneously, and ICNI equipment completes the passback order after parameter updates resolves.
5. fault location system on the machine of ICNI equipment as claimed in claim 1, it is characterised in that simulated failure is injected subsystem and reported by analog IC NI module failure, triggers ICNI Reconstruction Mechanism, sensor function and module failure are positioned and investigation.
6. fault location system on the machine of ICNI equipment as claimed in claim 1, it is characterized in that, simulated failure is injected subsystem and is divided into automatic imitation direct fault location and manual simulated failure to inject, it is by fault mode data base that automatic fault is injected, injecting typical interior outfield fault, it is that artificial freedom and flexibility select module failure to inject that manual simulated failure is injected.
7. fault location system on the machine of ICNI equipment as claimed in claim 1, it is characterized in that, data collection and analysis subsystem adopts graphical interfaces mode of operation, gathers ICNI device interior cycle data by CAN and is delivered to the cycle data of outside by 1553B bus collection ICNI equipment.
8. fault location system on the machine of ICNI equipment as claimed in claim 1, it is characterized in that, in the analysis process of data collection and analysis subsystem, whether data collection and analysis subsystem first determines whether the data form collected and verifies normal, if the data check collected is abnormal, then on interface, video data gathers fault；If the data of data form and agreement are normal, then continue to data, sensor function according to Different sampling period, constantly receive new data, if not new data, then return to waiting for receiving new data, if it is determined that be new data, then cross filter data and read wherein valid data content, when crossing filter data, judge that whether this cycle data is the data that current function should resolve, if not the data that currently should resolve, then give up these data, if the data of current setting function, then resolution data, update content is to graphical interfaces.
null9. fault location system on the machine of ICNI equipment as claimed in claim 1，It is characterized in that，In scheduling of resource parameter configuration subsystem flow process，Scheduling of resource parameter configuration subsystem builds resource thread and configuration parameter according to man machine interface，Carry out scheduling of resource according to resource thread and configuration parameter rationally to judge or parameter configuration rationally judges，When entering scheduling of resource flow process，Share and issue of priority owing to resource relates to，Scheduling of resource parameter configuration subsystem carries out scheduling of resource and rationally judges，First determine whether that whether the scheduling of resource selected by interface is reasonable，If rationally，Then send resource thread scheduling order，Or it is unreasonable，There is resource contention，Then prompting reports an error，After sending scheduling of resource order，Resource thread state after query scheduling，If not receiving acknowledgment of your inquiry character ACK，Then prompting reports an error，After the set time，If receiving resource thread scheduling passback ACK，On interface, then update display resource thread，Thus completing once complete resource distribution operation.
10. fault location system on the machine of ICNI equipment as claimed in claim 1, it is characterized in that, when entering parameter configuration flow process, scheduling of resource parameter configuration subsystem first determines whether that whether parameter configuration is reasonable, if it is unreasonable, then prompting reports an error, if rationally, then send parameter configuration order, after sending parameter configuration prompt command, the function thread parameter after query modification, if confiscating the ack msg that querying command is corresponding, prompting reports an error, if the ack msg that querying command is corresponding can be received, then updates display resource configuration parameter on graphical interfaces.
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| CN106598033A (en) * | 2016-12-31 | 2017-04-26 | 清华大学深圳研究生院 | PHM (Prognostic and Health Management) system for unmanned aerial vehicle based on middleware |
| CN108173756A (en) * | 2017-12-18 | 2018-06-15 | 天津津航计算技术研究所 | A kind of dual redundant ethernet mac state health control method |
| CN109582617A (en) * | 2018-11-05 | 2019-04-05 | 中国航空工业集团公司西安飞机设计研究所 | A kind of data selecting method in multi-level bus data transmission |
| CN111354238A (en) * | 2020-03-17 | 2020-06-30 | 云南师范大学 | Unmanned ship fault simulation system |
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| CN109582617B (en) * | 2018-11-05 | 2022-06-28 | 中国航空工业集团公司西安飞机设计研究所 | Data selection method in multilevel bus data transmission |
| CN113557441A (en) * | 2019-01-11 | 2021-10-26 | 皇家飞利浦有限公司 | Automated detection of docking take-up ring position |
| CN111354238A (en) * | 2020-03-17 | 2020-06-30 | 云南师范大学 | Unmanned ship fault simulation system |
| CN113452537A (en) * | 2020-03-24 | 2021-09-28 | 中国移动通信集团河北有限公司 | Fault positioning method and device based on model |
| CN113452537B (en) * | 2020-03-24 | 2023-02-28 | 中国移动通信集团河北有限公司 | Model-Based Fault Location Method and Device |
| CN111614406A (en) * | 2020-03-30 | 2020-09-01 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | CNI field wireless automatic detection equipment |
| CN111614406B (en) * | 2020-03-30 | 2022-05-17 | 西南电子技术研究所（中国电子科技集团公司第十研究所） | CNI field wireless automatic detection equipment |
| CN111968267A (en) * | 2020-08-28 | 2020-11-20 | 珠海欧比特宇航科技股份有限公司 | Airborne flight safety real-time monitoring and intelligent early warning device |
| CN112415301A (en) * | 2020-10-27 | 2021-02-26 | 成都飞机工业（集团）有限责任公司 | Structured description method for testing process of electronic product |
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