CN201345103Y - Semi-physical simulation device for autonomous navigation system of unmanned coaxial helicopter - Google Patents
Semi-physical simulation device for autonomous navigation system of unmanned coaxial helicopter Download PDFInfo
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- CN201345103Y CN201345103Y CNU2008202336464U CN200820233646U CN201345103Y CN 201345103 Y CN201345103 Y CN 201345103Y CN U2008202336464 U CNU2008202336464 U CN U2008202336464U CN 200820233646 U CN200820233646 U CN 200820233646U CN 201345103 Y CN201345103 Y CN 201345103Y
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Abstract
The utility model relates to a semi-physical simulation device for the autonomous navigation system of an unmanned coaxial helicopter, which comprises an airborne navigation computer, an airborne navigation distribution box, a navigation control display and a navigation simulator, wherein the airborne navigation computer is cross-linked with the navigation simulator through the airborne navigation distribution box to form the autonomous navigation simulation loop of the unmanned helicopter; the airborne navigation computer is cross-linked with the navigation control display through the airborne navigation distribution box to realize the control and the testing of the airborne navigation computer. The device establishes a general development platform for the unmanned helicopter navigation system and can be used to verify the reliability of the function/performance of the navigation system under the simulation conditions similar to the practical flight conditions; the semi-physical simulation technology has the advantage of good advancement, commonality and practicability; the semi-physical simulation environment has the advantages that the design is delicate, the structure is simple and the operability is favorable. The utility model has the advantages that the development cycle of the navigation system is shortened, the risk of the navigation system is reduced and the technical benefit and economical benefit are good.
Description
(1) technical field
The utility model relates to a kind of emulation technology device, relates in particular to a kind of unmanned coaxal helicopter autonomous navigation system semi-true object emulation technology apparatus, belongs to depopulated helicopter navigation and control technology field.
(2) background technology
Half is in kind, also claims (HIL----Hardware-in-the-loop) emulation in the loop of semi physical or hardware, has the important engineering meaning in the research and development of advanced unmanned vehicle.Studying corresponding emulation technology and build corresponding simulated environment, is to design and develop the indispensable material technology means of unmanned helicopter flight control/navigational system.
Be different from mathematical simulation, the principal character of hardware-in-the-loop simulation is: in the big system of aircraft, be actual physics device in the aircraft as some ingredient of the main object of simulation study.These devices in kind can be respectively independent flight management system, flight control system, navigational system and avionics system or their combination.
Full-scale investigation object in the unmanned vehicle hardware-in-the-loop simulation mainly is a flight control system at present.Research purpose is the stability and the maneuverability of examination aircraft.Main emulator is three flight simulation beds and iron bird testing table, and these equipment are complex and expensive extremely.And be the semi-true object emulation technology of single research object with true navigational system (device), be not seen in so far in disclosed patent or document.
(3) utility model content
The purpose of this utility model provides a kind of unmanned coaxal helicopter autonomous navigation system semi-true object emulation technology apparatus, this device has overcome the deficiencies in the prior art, it is the real-time simulation technology that has adopted based on common PC computing machine, thus the hardware-in-the-loop simulation environmental structure of being created is simple, cost is low, profitable.And not as existing some real-time emulation system, the real time operating system of the high performance simulation computer of needs configuration, complexity, special emulation tool software and large-scale l-G simulation test equipment.
The utlity model has following function: (a) create the navigational system development environment, (b) checking navigational system function/performance, (c) check navigational computer interface and crosslinked relation, (d) exposure and diagnosis computer fault, (e) examination and evaluates calculation machine product.
The technical solution of the utility model is achieved in that a kind of unmanned coaxal helicopter autonomous navigation system semi-true object emulation technology apparatus, it is by airborne navigation computer 1, navigation junction box 2, Navigation Control display 3, with navigation simulation device 4, totally four parts are formed.Wherein, airborne navigation computer 1 is crosslinked with navigation simulation device 4 by navigation junction box 2, to form depopulated helicopter independent navigation simulation loop; Simultaneously, airborne navigation computer 1 is also crosslinked with Navigation Control display 3 by navigation junction box 2, to realize control and the test to airborne navigation computer 1.
Simulation object in the utility model---airborne navigation computer 1 has PC/104 built-in industrial personal computer architecture.Be characterized in: compact stack access node structure, peripheral module is abundant, configuration is flexible, low in energy consumption, reliability is higher, again because of with universal PC/AT compatibility, be easy to develop.This navigational computer is made up of 6 templates: CPU board (CM/P5e), display board (mm/VFP), Simulation with I/O plate (MM-32), serial communication plate (HXL-10423), counter plate (MM-10) and power panel (MM-512-V512).
Airborne navigation computer has " ground test " and " real-time navigation " two kinds of mode of operations.In the ground test pattern, can respond control from outside " Navigation Control display " 3, realize following operation: (a) airborne navigation computer self-test, (b) guider on-line testing, (c) horizontal stroke/directional control emulation, (d) bookbinding line of flight data, (e) guidance command acceptance test, (f) navigation flight emulation, (g) the log data are downloaded in the boat back.After " ground test " pattern finished, Automatic Program entered " real-time navigation " pattern.Real-time navigation is the infinite loop process of a timing cycle 250ms, program is carried out following function in each navigation cycle: (a) atmosphere data and magnetic heading signals collecting, (b) the GPS/INS locator data is handled, (c) guidance command is handled, (d) air approach control/navigation calculating, (e) horizontal stroke/directional control signal output, (f) flight/fault state monitoring and record.
Through navigation junction box 2, be admitted to each passage of A/D of Simulation with I in the airborne navigation computer 1/O plate from the analog input signal (course sin/cos, the angle of pitch, true air speed) of navigation simulation device 4; And two D/A passage output horizontal stroke/directional control command signals on this plate, it is sent to navigation simulation device 4 through navigation junction box 2.From the GPS/INS locator data and the guidance command data of navigation simulation device 4, be admitted to two RS422 serial ports on the serial data communication plate in the airborne navigation computer 1 respectively through navigation junction box 2.Navigation Control display 3, logical with the serial data of airborne navigation computer 1 through navigation junction box 2 is to realize by the RS232 serial ports on the cpu motherboard.
Core apparatus of the present utility model is the navigation simulation device.Its hardware is a PC computing machine (operating system WindowsXP, 3 of isa bus slots are more than the monitor resolution 800x600), wherein disposes A/D analog input card (PC-6360),
Each one on D/A analog output card (KH-9211) and serial data communication card (CI-132).Emulation application is C
++6.0 OO modular construction.
The navigation simulation device has 4 kinds of mode of operations: (a) initial testing, and (b) task design, (c) flight simulation (d) is handled afterwards.The function key of clicking on the indicator screen can select to enter the interface of corresponding work mode.
" initial testing " pattern is carried out following task: (a) serial data communication mouth (RS422) test contains serial ports A (output locating information) and serial ports B (output guidance command); (b) simulation delivery outlet (D/A) test contains CH1 (air speed), CH2 (course sine), CH3 (course cosine), CH4 (angle of pitch); (c) analog input mouth (A/D) test contains CH1 (lateral control instruction), CH2 (directional control instruction).
" task design " pattern realizes following function: (a) artificial tasks initialization, comprise the initial state of flight of aircraft (position, highly, speed, course, attitude) is set reference point terrestrial coordinate (longitude and latitude, highly) and disturbed condition (RMS positioning error, often be worth wind and air turbulence) and select navigation simulation mode (mathematics or half in kind).(b) line of flight planning comprises: way point (WGS84 terrestrial coordinate) is provided with, and the leg is provided with, (length, the orientation) calculating of leg parameter and flight-line design and selection.
" flight simulation " pattern has two spermotypes: emulation of mathematics navigation flight and half navigation flight emulation in kind.When operation mathematics navigation simulation pattern, the former Navigator that should move in navigational computer is changed in the navigation simulation device to be moved.This pattern can not have under the situation of navigational computer, is used for exploitation and debugging Navigator, and the simulation result of its mathematics flight can be used as the baseline of half flight simulation in kind.In half navigation simulation pattern in kind, Navigator moves in real navigational computer, and its needed aircraft-position information is provided by the navigation simulation device, and the aircraft horizontal stroke that it generated/directional control instruction is then sent back to the navigation simulation device.
The task of Navigator is according to current airplane motion information, by specific navigation rule, calculate aircraft horizontal stroke/directional control instruction of wishing in real time, this control command is output the horizontal stroke/course passage of the flight control system to the emulator, drive aircraft horizontal stroke/course kinetic model, so that aircraft keeps flying along prebriefed pattern.When flying in sighting distance, Navigator adopts section, base navigation coordinate system, and each leg is the isoazimuth course line; And when over the horizon is flown, adopt WGS-84 whole world sphere navigation coordinate system, each leg is great circle route.Between adjacent leg, can select to turn in advance, pressure point is turned or cross the point three kinds of conversion regimes of turning.But the airline operation of putting down an airway except emulation, but also emulation is that the center is the horizontal orbit of radius with the predetermined distance with the set point.No matter be airline operation or orbit, all adopt the navigation rule of the PID (ratio+differential+integration) of the horizontal stroke/course deviation of current relatively leg, in this navigation rule, also designed wind resistance and the anti-measure of unrolling.The parameter of navigation in the rule can be by user's bookbinding, the design and optimization of this rule that helps navigating.
The utility model adopts two kinds of emulation modes about airplane motion information (position and speed).A kind of is the autonomous positioning method, and it is equivalent to the airplane motion information (being illustrated in the WGS-84 coordinate system) that adopts inertial positioning or GPS location technology to be obtained; Another kind is a dead reckoning, promptly utilizes the wind speed and direction information of air speed, course, angle of pitch information and estimation, extrapolates the ground velocity and the position of aircraft.When autonomous positioning inefficacy or precision deterioration, Navigator can be converted to auxiliary dead reckoning automatically according to the fault condition code in the autonomous positioning information, proceeds navigation calculating; And recover just often when autonomous positioning, Navigator can return to autonomous positioning automatically.This function has guaranteed disturbed or bearing accuracy deterioration or the seriously growth in time of inertial positioning error at GPS, and can not use under the autonomous positioning data conditions, and navigational computer can utilize the dead reckoning data to continue to keep the ability of navigation.The module data record also is a function of flight simulation pattern.The content of every frame data record comprises: real-time time, boat segment number, aircraft position (X, Y), the aircraft position (λ, φ), aircraft altitude, aircraft ground velocity, ground velocity east component, ground velocity north component, air speed, flight-path angle, course angle, the angle of pitch, pitch angle, course angle speed, lateral control command voltage, directional control command voltage, wind speed, wind direction, air-dry state, bearing accuracy, positioning states, malfunction, the guidance command etc. of disturbing.
" handle " pattern afterwards.After predetermined artificial tasks finishes, the data of this emulation record (for example: the navigation flight precision), and generate a l-G simulation test report file are carried out statistical study.Also can give playback as needs to the emulation overall process.
Workflow and sequential about the navigation simulation device.For finishing once predetermined artificial tasks, emulator should move " initial testing ", " task design " and " flight simulation " mode of operation successively in proper order.Before, should carry out related data setting and selection in each pattern of operation (or wherein option) by the prompting at indicator screen interface.After artificial tasks finishes, can select to enter " afterwards handling " pattern as required.For guaranteeing the real-time of navigation simulation, the renewal rate of navigation simulation device and navigational computer is 250ms (4 times/second).In each update cycle, order is carried out the follow procedure module in time: air-dry processing module, positioning error processing module, A/D analog input module, locator data generation module, motion state update module, locator data sending module, D/A analog output module, guidance command/malfunction output module, line of flight parameter update module and the data recordin module of disturbing.And the renewal rate that aircraft dynamics is resolved is 10ms (100 times/second).
Advantage of the present utility model and effect are: for the depopulated helicopter independent navigational system has been created a kind of semi-true object emulation technology and simulated environment.The related navigation simulation technology of the utility model has good advance, versatility and practicality, for advanced unmanned plane navigational system, the particularly optimal design of Navigation Control rule provide an effective platform.And the related simulated environment of the utility model, design superior, simple in structure, cost is low.The emulation of navigational computer hardware in the loop that it is realized, for the function/Performance And Reliability of detailed evaluation navigational computer product and the flight quality of full test depopulated helicopter navigational system under approximate practical flight condition, provide an effective means.Be proved to be: use construction cycle and risk that the utility model can greatly reduce navigational system, save the funds of navigational system flight test, thereby shown significant technical economic benefit.
(4) description of drawings
Fig. 1 navigational system semi-true object emulation technology apparatus structural representation
Fig. 2 navigational computer stack connects the bus structure synoptic diagram
Fig. 3 navigational computer navigation software schematic flow sheet
Fig. 4 navigation simulation device mode of operation synoptic diagram
Fig. 5 navigation simulation device master interface synoptic diagram
Fig. 6 navigation simulation device initial testing interface synoptic diagram
Fig. 7 navigation simulation is had a high regard for affair initialization interface synoptic diagram
Fig. 8 navigation simulation device way point is provided with the interface synoptic diagram
Fig. 9 navigation simulation device flight course planning interface synoptic diagram
Figure 10 navigation simulation device guidance command test interface synoptic diagram
Figure 11 navigation simulation device malfunction is provided with the interface synoptic diagram
Figure 12 navigation simulation device flight simulation interface synoptic diagram
Statistical study interface, Figure 13 navigation simulation device flight back synoptic diagram
Figure 14 Navigation Control display flight course planning interface synoptic diagram
Symbol description is as follows among the figure:
1 airborne navigation computer; 2 navigation junction boxs; 3 Navigation Control displays; 4 navigation simulation devices.
(5) embodiment
See Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, shown in Figure 14, a kind of unmanned coaxal helicopter autonomous navigation system semi-true object emulation technology apparatus is specifically implemented as follows.
A kind of unmanned coaxal helicopter autonomous navigation system semi-true object emulation technology apparatus, this installs by airborne navigation computer 1, navigation junction box 2, Navigation Control display 3 and navigation simulation device 4, totally four parts are formed (Fig. 1).Wherein, airborne navigation computer 1 is crosslinked with navigation simulation device 4 by navigation junction box 2, to form depopulated helicopter independent navigation simulation loop; Simultaneously, airborne navigation computer 1 is also crosslinked with Navigation Control display 3 by navigation junction box 2, to realize control and the test to airborne navigation computer 1.
Described airborne navigation computer 1, be PC/104 built-in industrial personal computer architecture (Fig. 2), it is made up of 6 templates: CPU board (CM/P5e), display board (mm/VFP), Simulation with I/O plate (MM-32), serial communication plate (HXL-10423), counter plate (MM-10) and power panel (MM-512-V512).Airborne navigation computer has " ground test " and " real-time navigation " two kinds of mode of operations (Fig. 3);
Described navigation simulation device 4, its hardware is a PC computing machine (operating system Windows XP, 3 of isa bus slots, more than the monitor resolution 800x600), wherein dispose A/D analog input card (PC-6360), each one on D/A analog output card (KH-9211) and serial data communication card (CI-132).Emulation application is C
++6.0 OO modular construction.The navigation simulation device has 4 kinds of mode of operations: (a) initial testing, and (b) task design, (c) flight simulation (d) is handled (Fig. 4) afterwards;
Described Navigation Control display 3 is a portable notebook computer.By the RS232 serial data communication, crosslinked with airborne navigation computer 1 before flight through navigation junction box 2.Use special communication software, can carry out following operation to airborne navigation computer item by item by menu prompt: (a) navigational computer self-test, (b) guider test, (c) aerial mission bookbinding and loading, (d) base navigation coordinate system and the bookbinding of guidance parameter, (e) horizontal stroke/directional control signal check and (f) navigation flight emulation (Figure 14);
Described navigation junction box 2 is aviation terminal boxes, and it has realized the electric correct connection between airborne navigation computer 1, Navigation Control display 3 and navigation simulation device 4.
The concrete trend of signal is: through navigation junction box 2, be admitted to each passage of A/D of Simulation with I in the airborne navigation computer 1/O plate from the analog input signal (course sin/cos, the angle of pitch, true air speed) of navigation simulation device 4; And two D/A passage output horizontal stroke/directional control command signals on this plate, it is sent to navigation simulation device 4 through navigation junction box 2.From the GPS/INS locator data and the guidance command data of navigation simulation device 4, be admitted to two RS422 serial ports on the serial data communication plate in the airborne navigation computer 1 respectively through navigation junction box 2.Navigation Control display 3, logical with the serial data of airborne navigation computer 1 through navigation junction box 2 is to realize by the RS232 serial ports on the cpu motherboard.
Practical operation is as follows:
(a) establishment emulation testing charter and test outline.
(b) simulated environment is prepared---and use private cable with " airborne navigation computer " 1, " navigation junction box " 2, " Navigation Control display " 3 and " navigation simulation device " 4 connect reliably, guarantee that electric crosslinked relation is correct each other.Correct Simulation Application software and the serial port drive program of installing in the navigation simulation device.Main interface (Fig. 5) appears in starting navigation simulation software on screen.The operation control shows application program on the Navigation Control display, occurs main interface (Figure 12) on screen.Order is opened the power switch of navigation junction box and navigational computer, makes navigational computer power up.
(c) simulation and digital I/O communication test---on emulator master interface, click " initial testing " button, enter " initial testing " pattern (Fig. 6), carry out the test of D/A, A/D and serial ports successively by menu content.Send into effective air speed, the angle of pitch and course data respectively at each passage of D/A window, go up to check whether correctly received by airborne navigation computer A/D at " Navigation Control display ".Go up the given horizontal stroke/directional control voltage of order airborne navigation computer D/A output at " Navigation Control display ", in emulator A/D test window, check whether correctly received.In the serial ports test window, send various guidance commands and given locator data respectively, observe the data of returning from airborne navigation computer, check whether the work of RS422 serial ports is normal.
(d) task initialization---on emulator master interface, click " task initialization " button, enter " task initialization " pattern (Fig. 7).Key in respectively by each windows content: mission statement, reference point coordinate, initial state of flight, air-dry disturbing and the bearing accuracy factor data. and select the navigation simulation mode, wherein " independent navigation " is mathematical simulation, be used to investigate Navigator, navigational computer is not participated in emulation; " real-time navigation " is hardware-in-the-loop simulation.
(e) flight course planning---click " way point setting " button on the emulator master interface, enter " way point setting " interface (Fig. 8).In window, key in predetermined each way point longitude (dddmm.mmmm) and latitude (ddmm.mmmm) successively. on emulator master interface, click " flight course planning " button, open " flight course planning " interface (Fig. 9).In way point the preview window, click each relevant way point by predetermined flight course planning, if spiraling at certain way point place, hope should in the radius frame, key in the turn circle radius value.Click " setting up the course line " button, can set up a course line, and give a boat wire size.The information in this course line in the preview window of course line, has wherein also been comprised the length and the position angle of each leg by synthesis display.The click OK button has promptly been finished the setting and the bookbinding in course line.Should note especially: the course line of activating in emulator must be with in full accord by the course line of binding in " Navigation Control display " navigation computing machine.
(f) flight simulation---click " flight simulation " button on the emulator master interface, enter " flight simulation " interface (Figure 12).Click " emulation begins " button and can start simulated flight.Screen left side shows is each flight status parameter in the real-time simulation process, and the right side shows is the line of flight of having bound and real-time flight path (being illustrated in the centre coordinate system of base).The screen below is some function buttons that can grasp in simulated flight.At any time click " adding air-dry disturbing " and " cancelling air-dry disturbing " button, can be introduced in set in the initialization air-dry and disturb; At any time click " adding GPS disturbs " and " cancelling GPS disturbs " button can be introduced predetermined bearing accuracy and worsen, and the beginning and ending time that applies these interference all is recorded, and the antijamming capability to navigational system after can be used for flying carries out statistical study.In simulation process, click " guidance command " button, to eject one " guidance command " frame (Figure 10), its in real time the navigation computing machine send the guidance command of various control aircraft flights, comprising: laterally autonomous/remote control, course be autonomous/remote control, independently make a return voyage and order such as fly nonstop to.To produce corresponding navigation or control action.Flight path has been sent " independently making a return voyage " guidance command in process is spiraled in the 3rd leg as shown in figure 12, and aircraft withdraws from immediately to spiral and comes back to the base.In simulation process,, will eject " malfunction setting " frame (Figure 11) if click " fault test " button.It can be used for producing independent or comprehensive predetermined failure condition, comprise: all kinds of fault locations, as no locator data, no positioning solution, malfunction such as bearing accuracy is low or malfunction such as non-difference location and air speed, the angle of pitch, pitch angle and course angle precision be overproof.This function has the Fault Identification of check airborne navigation computer and the ability of alarm.After predetermined flight simulation finished, the emulation meeting stopped automatically. and click the Back button, withdraw from the simulated flight interface, return main interface.
(g) flight post-simulation analysis---all can generate the emulation log file after each emulation finishes, file content comprises: the flight status parameter of task initialization information, emulation overall process and fault/remote control/disturbance state information.As the need statistics navigation accuracy in section sometime, can click " statistical study " button, open " statistical study " dialog box (Figure 13), set to wish the boat segment number of statistics and attribute (straight line or spiral) and start-stop flight time therein, just can calculate the mean value and the standard deviation of the lateral deviation distance of the corresponding flight line of practical flight track.This emulator also has the function of simulation process playback.Click " emulation playback " button on the main interface, show " emulation playback " dialog box, import the artificial tasks name therein, can under the situation that no navigational computer is participated in, utilize existing record data to reappear completed emulation overall process.
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102298334A (en) * | 2011-08-31 | 2011-12-28 | 北京空间飞行器总体设计部 | Breakpoint simulation controller and control method for ground simulation system |
| CN102315929A (en) * | 2011-08-31 | 2012-01-11 | 北京空间飞行器总体设计部 | Timing synchronization controller of ground simulation system |
| CN104374418A (en) * | 2014-11-03 | 2015-02-25 | 中国空空导弹研究院 | Equipment ground detection device comprehensive-calibration device based on system simulation |
| CN105259788A (en) * | 2015-11-04 | 2016-01-20 | 中国直升机设计研究所 | Fault simulation method and system for flight control system |
| CN106027139A (en) * | 2016-06-22 | 2016-10-12 | 北京七维航测科技股份有限公司 | High-precision moving object measuring system and method |
| CN106708088A (en) * | 2016-09-26 | 2017-05-24 | 重庆零度智控智能科技有限公司 | Coordinate calculating method, coordinate calculating device, flight control method, flight control system, and unmanned aerial vehicle |
| CN106707793A (en) * | 2016-11-29 | 2017-05-24 | 中国直升机设计研究所 | Helicopter semi-physical simulation test system |
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2008
- 2008-12-24 CN CNU2008202336464U patent/CN201345103Y/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102298334A (en) * | 2011-08-31 | 2011-12-28 | 北京空间飞行器总体设计部 | Breakpoint simulation controller and control method for ground simulation system |
| CN102315929A (en) * | 2011-08-31 | 2012-01-11 | 北京空间飞行器总体设计部 | Timing synchronization controller of ground simulation system |
| CN102315929B (en) * | 2011-08-31 | 2014-04-02 | 北京空间飞行器总体设计部 | Timing synchronization controller of ground simulation system |
| CN104374418A (en) * | 2014-11-03 | 2015-02-25 | 中国空空导弹研究院 | Equipment ground detection device comprehensive-calibration device based on system simulation |
| CN105259788A (en) * | 2015-11-04 | 2016-01-20 | 中国直升机设计研究所 | Fault simulation method and system for flight control system |
| CN106027139A (en) * | 2016-06-22 | 2016-10-12 | 北京七维航测科技股份有限公司 | High-precision moving object measuring system and method |
| CN106708088A (en) * | 2016-09-26 | 2017-05-24 | 重庆零度智控智能科技有限公司 | Coordinate calculating method, coordinate calculating device, flight control method, flight control system, and unmanned aerial vehicle |
| CN106707793A (en) * | 2016-11-29 | 2017-05-24 | 中国直升机设计研究所 | Helicopter semi-physical simulation test system |
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