KR101706150B1 - Method for creating reference route for checking integrated electronic apparatus - Google Patents

Abstract

The present invention relates to a reference path generation technique in a navigation system, and more particularly, to a method of generating a reference path (a reference value for guide time state information according to flight time) A method for setting an error range for the reference path in order to automate the checking result, and a method for implementing the error range in the test set.
According to the present invention, it is possible to process and / or automate the reference path generation and error range setting process necessary to automate real-time inspection.

Description

[0001] The present invention relates to a method for creating a reference path for an integrated electronic device real-

The present invention relates to a reference path generation technique in a navigation system, and more particularly, to a method of generating a reference path (a reference value for guide time state information according to flight time) A method for setting an error range with respect to a reference path in order to automate the checking result, and a method for implementing the error range in a test set.

Flight simulations to realize the checking of flight status information (real - time monitoring of integrated electronic devices) are mainly implemented in two ways. In the first method, the 6-dof (degree-of-freedom) equation of motion is calculated in real time on the test set, and information necessary for the induction control is provided to the integrated electronic device. Although this method is the most common method for flight simulations, the flight path used as the reference data for the inspection may vary according to the inspection error, so it is necessary to analyze the inspection result and it is difficult to plan the reference value for the inspection result in advance. Is not suitable for automation purposes.

In particular, in order to automate the inspection, it is necessary to set the reference value for the inspection result and the error range for the reference value, and in the case of real-time inspection, it is necessary to set the reference value for the information on the state of the guided-

Therefore, the method of simulating the flight process using the second method, flight test data, is being used more for the purpose of automating the check. This method is to obtain the acceleration, angular velocity, and position, velocity, and attitude information of the missile for flight simulation from the flight test data, and reproduce the flight process using this information. Also in this case, it is easy to analyze the inspection results because it is possible to set a reference value for the information on the state of the missile to be defined as the telemetry item according to the flight process.

However, if there is no information required for flight simulations due to the limitation of the number of channels of telemetry data, there is a situation where the data must be processed. In this case, the error between the reference value and the check result for the missile condition information becomes large, Finding a reproducible check result within a range is an iterative operation, and as a result, it is difficult to generalize the reference path generation process in the same way, such as the adjustment of some data.

Therefore, despite the advantages described above, there is a problem that it is difficult to obtain a reproducible reference path within a tolerance range when the check error is large due to the limitation of the number of telemetry items. In the present invention, a reference path generation method using a navigation equation is proposed as a method for solving the problem.

Since the check error occurs in position, velocity, and attitude information in general, the proposed method uses the flight test result data as acceleration and angular velocity of the information necessary for flight simulation, and the position, The values calculated by the formula are used. As a result, since the acceleration and angular velocity of the test data are used, the flight test result data can be used as it is for the reference path generation, and since some information necessary for flight simulation is directly integrated by integrating the equation of motion, There is an advantage that it can be removed.

1. Korean Unexamined Patent Application No. 10-0915121 (Aug. 26, 2009) (Name of invention: Unmanned vehicle using satellite navigation correction system and method of deriving the same) 2. Description of the Related Art Korean Unexamined Patent Application No. 10-0578942 (May 05, 2006) (Title of the Invention: Collision Avoidance Method and System of Unmanned Aircraft Using Proportional Navigation)

1. Park, Jee-hee, et al., "Verification of the attitude verification of the GPS / INS navigation device for aviation in the integration test of aviation" Korea Aerospace Society 2014

The present invention has been proposed in order to solve the problem according to the above background art, and it is an object of the present invention to provide a method of simulating a flight process using flight test result data, that is, when a check error increases due to limitation of the number of telemetry items, The present invention provides a method for generating a reproducible reference path for real-time inspection using a navigation expression, as a method for solving the problem that it is difficult to obtain a reproducible reference path within a range.

Another object of the present invention is to provide a method of setting a tolerance range of a reference path according to flight time necessary for automating the determination of a real-time check result using the reference path.

Another object of the present invention is to provide a reproducible reference path generation method and a method for implementing a tolerance range setting method for the reference path in a test set.

The present invention provides a method for implementing a simulated flight function using limited telemetry data and generating a reproducible reference path within a tolerance range to achieve the above-described problems.

A method of generating a reference path for real-time inspection of an integrated electronic device and setting an error range for the reference path,

(a) the integrated electronic device generating the first guided car state comprehensive information according to the guidance and control command to the guided vehicle;

(b) the test set generating first telemetry data using the first guided vehicle state composite information;

(c) the test set performing flight simulations using the first telemetry data to produce a simulated result;

(d) generating a second guided vehicle state comprehensive information according to an induction and adjustment command reflecting the simulated result of the integrated electronic device;

(e) the test set generating second telemetry data using the second guided vehicle state synthesis information;

(f) comparing the first telemetry data and the second telemetry data with the test set to determine whether the first telemetry data is a reproducible reference path; And

(g) setting the tolerance range for the first telemetry data using the error equation, and generating the minimum and maximum tolerance paths.

In this case, the flight simulation uses the test result data as the acceleration and angular velocity information, and uses the strap-down navigation formula to calculate the position, speed and attitude information of the missile according to the flight time.

The strap-down navigation formula is expressed by the following formula in the navigation coordinates.

는 지구의 회전각속도이고,

는 지구에 대한 유도탄의 속도를 나타낸다.

은 가속도계가 측정한 가속도 값을 나타내고,

는 지구중력을 포함한다.here

Is the Earth's rotational angular velocity,

Represents the velocity of the missile on Earth.

Represents the acceleration value measured by the accelerometer,

Includes the Earth's gravity.

, 경도

및 고도

정보는 다음 식으로부터 계산할 수 있다.Latitude of missile

, Hardness

And altitude

The information can be calculated from the following equation.

으로부터 자세 계산에 필요한

각속도 정보를 계산하고, 이를 적분하여 유도탄의 자세를 계산하고, 그 값을 위의 식에 대입하여 유도탄의 속도와 위치 값을 계산한다.Measured value of angular velocity of test result data

Required for posture calculation from

Calculate the angular velocity information, calculate the attitude of the guided car by integrating it, and substitute that value into the above equation to calculate the velocity and position value of the guided missile.

In order to automate the checking results, we have proposed the following error equation for setting the error range for the reference path.

는 유도탄의 예정 궤적(nominal trajectory)이고, t는 유도탄 비행 시간이고, t_d는 시간 지연을 나타낸다)(Where x _max is the error maximum boundary value, x _min is the error minimum boundary value, K is the gain,

Is the nominal trajectory of the missile, t is the missile flight time, and t _d is the time delay)

Wherein the tolerance range includes a gain and a time delay for each of the telemetry items in an error equation so as to include a range of allowable values for the first telemetry data and a delay with respect to time.

Further, the test set processes the first telemetry data or the second telemetry data in a file form. A reference path file for the reference path, an error setting file for setting the error range for the telemetry item, and an error path file for setting the minimum and maximum allowable ranges of the reference path.

The method may further include processing a graphical user interface to display the first telemetry data or the second telemetry data.

It is also possible that the first guided vehicle state comprehensive information is prepared in advance in the test set and the second guided vehicle state comprehensive information is transmitted from the integrated electronic device to the test set at regular intervals.

 According to the present invention, it is possible to process and / or automate the reference path generation and error range setting process necessary to automate real-time inspection.

In addition, as another effect of the present invention, an error between a simulation result and a check result, which is a problem that arises when a simulated flight function is implemented using limited remote measurement item data, becomes large and some data adjustment is inevitable, Can be solved by the same procedure.

1 is a conceptual diagram of a reference path generation method for real-time monitoring of an integrated electronic device using a navigation formula according to an embodiment of the present invention.
2 is a conceptual diagram illustrating generation of a reproducible reference path according to an embodiment of the present invention.
3 is a configuration block diagram of the test set shown in Fig.
4 is a diagram illustrating the concept that the integrated electronic device 200 generates a reproducible reference path using a navigation formula, in accordance with an embodiment of the present invention.
FIG. 5 is a view illustrating a comparison between a reproducible reference path input by the integrated electronic device and a check result output by the integrated electronic device according to an exemplary embodiment of the present invention.
6 is a graph for generalizing an error range setting process according to an embodiment of the present invention.
FIG. 7 is an example of a configuration of files for setting an error range for a telemetry item according to an embodiment of the present invention.
8 is a flowchart illustrating an error path generation process using an error setting file according to an embodiment of the present invention.
FIG. 9 is a conceptual diagram showing an example of the configuration of an error setting file, illustrating a relationship between an error setting file, a reference path file, and an error path file according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

Like reference numerals are used for similar elements in describing each drawing.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Should not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout.

FIG. 1 is a conceptual diagram of a reference path generation method for real-time inspection of an integrated electronic device using a navigation formula according to an embodiment of the present invention, and FIG. 2 is a conceptual diagram showing generation of a reproducible reference path according to an embodiment of the present invention .

Referring to FIGS. 1 and 2, a process 111 of calculating an induction command, calculating a control command 112, calculating a guidance command, A step 121 of generating the first telemetry data 210 based on the first guided car condition comprehensive information by receiving the guided car condition comprehensive information from the test set side, A step 122 of performing flight simulation using the item data 100 and generating a simulation result according to flight simulation and generating a reference path information including a simulation result, A process of calculating the guidance and control command, a process of generating the second guidance cargo state comprehensive information indicating the state of the guided car according to the calculated guidance command and the control command, Generating second remote measurement item data 220 based on the second guided vehicle state comprehensive information by receiving the second guided vehicle state comprehensive information from the first and second measured items data 210 and 230, A graphical user interface (GUI) processing step 123 for displaying the first telemetry data 210 and the second telemetry data 220 to check whether they are reproducible reference paths, (130) are performed.

Referring to FIG. 1, on the integrated electronic device side, a process 111 for calculating an induction command for every 200 Hz, a process 112 for calculating a control command, a first guidance poison state indicating the state of the guided car according to the calculated guidance command, And the process of generating comprehensive information 113 is repeated.

As the guided vehicle state comprehensive information is generated, the remote measurement item data 100 is generated. This telemetry data (100) is about 300 items, 328 words. The items include the information about the missile's flight acceleration, angular velocity and position, speed, attitude, guidance command, control command, control loop gain and other information related to the missile's flight and electronic devices (inertial measurement device, driving device, integrated electronic device, Battery, etc.), and information on the power state.

With continued reference to FIG. 1, the test set side performs the flight simulation using the telemetry data 100, and transmits the generated simulated flight information to the integrated electronic device at a cycle of 200 Hz.

,

,

)와 각속도(

,

,

) 및 유도탄의 자세(

,

,

)와 항법좌표계에서의 유도탄 속도(

,

,

) 등을 들 수 있다. Specifically, the acceleration in the guided car coordinate system (

,

,

) And angular velocity

,

,

) And the attitude of the missile

,

,

) And the guided car speed in the navigation coordinate system (

,

,

) And the like.

In order to automate the inspection, it is necessary to set the reference value for the inspection result and the error range for the reference value, and in the case of real-time inspection, it is necessary to set the reference value for the information on the state of the guided- Therefore, in the embodiment of the present invention, the flight test result data is directly used as the reference path. In particular, an embodiment of the present invention implements a simulated flight function using limited telemetry data. Here, the reference path means the state of the guided car according to the flight time, and it is made up of 300 telemetry items in detail.

On the test set side, a graphical user interface (GUI) process 123 is performed to display the telemetry data every about 10 Hz.

Also, the test set side is finally checked (130) by comparing the first telemetry data 210 and the second telemetry data 220 to check and analyze the reproducible reference path. This can be performed using a computer provided on the test set side. Of course, the computer may be configured with a program tool for performing such comparison and / or analysis.

2 is a conceptual diagram illustrating generation of a reproducible reference path according to an embodiment of the present invention. Referring to FIG. 2, the integrated electronic device 200 performs a navigation function, an induction adjustment function, and a guided vehicle state comprehensive function to generate guided vehicle state comprehensive information and output it. The first telemetry data 210 is generated in a test set incorporating the resultant missile status of the integrated electronic device. Of course, on the test set side, the first telemetry data 210 is acquired from the integrated electronic device through a flight test, a hardware-in-the-loop simulation (HILS), or a 6-degree (degree of freedom) simulation process.

HILS is a technology used in the development and testing of complex real-time systems, providing an effective platform for control of the test objects. The complex objects to be controlled can be verified by the operation of a dynamic system model for testing and development.

,

,

)와 각속도(

,

,

) 및 유도탄의 자세(

,

,

)와 항법좌표계에서의 유도탄 속도(

,

,

) 등을 들 수 있다. On the test set side, the telemetry data generated from the flight test result is set as the reference path. Of course, the information for simulation of flight is acceleration

,

,

) And angular velocity

,

,

) And the attitude of the missile

,

,

) And the guided car speed in the navigation coordinate system (

,

,

) And the like.

The integrated electronic device performs guidance and control functions by using the flight simulation information to generate general information on the state of missile guns, and the test set receives the general information on the state of missile guns to generate second telemetry data 220.

If the first telemetry data 210 and the second telemetry data 220 are the same, then the reference path is a reproducible reference path.

The integrated electronic device 200 is composed of a navigation module, an induction and control module, and a missile state integration module. The navigation module calculates the position, velocity, and attitude of the missile, and the module calculates the reference flight path of the missile to fly to the target using navigation information. The steering module calculates the wing drive command for the missile to fly to the reference flight path. The missile condition module is composed of the operation status of other equipment in the missile (sensor, driving device, telemetry device, new pipe, in-tank power, etc.) do.

3 is a configuration block diagram of the test set 300 shown in FIG. Referring to FIG. 3, the test set includes a simulation module 310 for generating flight simulation information by performing a flight simulation through a navigation formula from the flight test result data, An error range setting module 330 for generating the tolerance range information by setting the tolerance range for the reference path, the remote measurement item data, the reference path information And a management module 340 for processing and storing the tolerance range information.

The management module 340 may also include a graphical user interface (GUI) process 123 for displaying the first telemetry data 210 and the second telemetry data 220, (130) comparing and analyzing the second telemetry item data (210) and the second telemetry item data (220) to check whether they are reproducible reference paths or the like.

In addition, the test set 300 may include a display system for display, a computer for analysis and inspection, and the like.

Here, the simulation module, the reference path generation module, the error range setting module, and the management module may be implemented by hardware, software, or a combination thereof. (DSP), a programmable logic device (PLD), a field programmable gate array (FPGA), a processor, a controller, a microprocessor, and the like, which are designed to perform the above- , Other electronic units, or a combination thereof. In software implementation, it may be implemented as a module that performs the above-described functions. The software may be stored in a memory unit and executed by a processor. The memory unit or processor may employ various means well known to those skilled in the art.

와 각속도

등을 추출하여 항법 식(410)에 대입하고, 이 항법 식(410)을 통해 추정 데이터인 유도탄의 자세

, 속도

및 위치(고도

,경도

,위도

) 등을 시험세트의 비행 모의 정보로 이용하고 원격측정항목 데이터(100)에 반영하여 기준 경로를 생성한다.4 is a diagram illustrating a concept that the integrated electronic device 200 generates information for flight simulation using a navigation formula according to an embodiment of the present invention. Referring to FIG. 4, a navigation function 410 is used to implement a simulated flight function. In other words, instead of directly using the measurement data subject to the limitation of the number of channels, the position, speed, and attitude information according to the flight path are estimated by the strap-down navigation method, and the simulated flight function is implemented through them. That is, from the telemetry data 100, the acceleration of the missile,

And angular velocity

And substitutes it into the navigation formula 410, and calculates the position of the guided vehicle, which is estimated data,

, speed

And location (altitude

,Hardness

,Latitude

) Is used as the flight simulation information of the test set and reflected in the telemetry data 100 to generate the reference path.

는 유도탄의 자세를 쿼터니온으로 표시한 값이고,

는 항법좌표계에서의 유도탄의 속도를 나타낸다.FIG. 5 is a view illustrating a comparison between a reproducible reference path input by the integrated electronic device and a check result output by the integrated electronic device according to an exemplary embodiment of the present invention. Referring to FIG. 5, the reference path ref and the check result mea are similar. Since only the acceleration and angular velocity information are used in the flight test result data, it can be applied to any of the quaternion methods or Euler angles that can be used as attitude information according to the system. 5,

Is a value obtained by expressing the attitude of the guided vehicle by quaternion,

Represents the speed of the guided missile in the navigation coordinate system.

The reference path generated by using the navigational flight path and the integrated control system of induction steering and state integration function is compared to the case where the flight test result without some data required for simulated flight is directly used as the reference path , The check error can be greatly reduced, and when the equipment to be inspected operates normally, a check result similar to the reference value can be obtained within a reproducible error range.

In addition, since the result of the integrated electronic device is used as a reference path, the reference path according to the flight time, which is the inspection result, can be used as a reference path for the next inspection. That is, the result of the integrated electronic device in the flight test or the HILS test can be used as a reference path, and simulated flight simulation can reproduce similar test results within the error range of this test.

6 is a graph for generalizing an error range setting process according to an embodiment of the present invention. Referring to FIG. 6, when a reference route for the guidance car status information is graphically displayed, the x-axis represents the flight time and the y-axis represents the corresponding item value. In order to generalize the error range setting method for the reproducible reference path, an error equation is defined as shown in Equation (1).

는 유도탄의 기준 궤적(nominal trajectory)이고, t는 유도탄 비행 시간이고, t_d는 시간 지연값을 나타낸다.

을 이용하여 시간 지연 정도를 조정할 수 있다.Where x _max is the error maximum boundary value, x _min is the error minimum boundary value, K is the gain,

Is the nominal trajectory of the guided missile, t is the guided missile flight time, and t _d is the time delay value.

Can be used to adjust the time delay.

The error range can be set to include both the range of the allowable value for the item and the time delay, and the error equation is expressed by the gain value and the time delay value for the item. 6, the left graph 610 shows a reference path, and when an error range is set in the reference path, the allowable range for the reference path is the maximum boundary and the minimum error margin Value (minimum boundary).

FIG. 7 is an example of a configuration of files for setting an error range for a telemetry item according to an embodiment of the present invention. 7, a configuration file 710 indicating an item from the telemetry data 100 and a data file 720 indicating information corresponding to the configuration are distinguished. In the data file 720, an error maximum boundary value (740) and an error minimum boundary value (730) are derived.

8 is a flowchart illustrating an error path generation process using an error setting file according to an embodiment of the present invention. Referring to FIG. 8, when the integrated information on the state of missile vehicles is transmitted from the integrated electronic device, the test set (300 in FIG. 3) generates the teletext item data 100 using the integrated state information of the state of missile (step S810).

The test set 300 then applies a navigation equation from the telemetry data 100 to perform a flight simulation and establishes a reference path including the generated simulation results (step S820).

When the reference path is set, a gain value, a time delay value, and the like for the corresponding item are designed in consideration of the characteristic of the item from the telemetry data 100 in order to set the tolerance range for the reference path (step S830 ).

Finally, an error error range is set by applying the error maximum boundary value and the error minimum boundary value to the error equation (step S840).

FIG. 9 is a conceptual diagram showing an example of the configuration of an error setting file, illustrating a relationship between an error setting file, a reference path file, and an error path file according to an embodiment of the present invention. Referring to FIG. 9, an error setting file (CONFIG FILE) includes information on a telemetry item, that is, item number, item name, minimum value, maximum value, error gain, time delay, And generates the minimum and maximum error path ranges for the items of the reference path file.

100: Remote metrics data
200: Integrated electronics
210: first telemetry data 220: second telemetry data
300: Test set
310: Simulation module 320: Reference path generation module
330: error range setting module 340: management module

Claims (8)

(a) the integrated electronic device generates the first guided vehicle state comprehensive information according to the guidance and adjustment instruction to the guided vehicle;
(b) the test set generating first telemetry data using the first guided vehicle state composite information;
(c) the test set performing flight simulations using the first telemetry data to produce a simulated result;
(d) generating the second guided vehicle state comprehensive information by the integrated electronic device in accordance with the guidance and control command reflecting the simulation result;
(e) the test set generating second telemetry data using the second guided vehicle state synthesis information;
(f) comparing the first telemetry data and the second telemetry data to determine if the first telemetry data is a reproducible reference path; And
(g) setting the tolerance range for the first telemetry data using the error equation, and generating a minimum and maximum tolerance path, using the error equation; and A method for generating a reference path for inspection.
The method according to claim 1,
The flight simulator can calculate the position, speed, and attitude information according to the flight path by using the strap-down navigation formula, and can reproduce a reproducibility characteristic that can eliminate a check error that may occur due to the limitation of the number of telemetry items A method of generating a reference path for real - time monitoring of integrated electronic equipment.
The method according to claim 1,
The step (c)
Performing a flight simulation using the first telemetry data to generate a simulation result;
Setting the simulation result as flight simulation information for an integrated electronic device; And
Setting a tolerance range for the first telemetry data used as the reference path and generating a tolerance range path; Further comprising a step of generating a reference path for real-time monitoring of the integrated electronic device.
3. The method of claim 2,
The strap-down navigation equation

ego,

,

,

Lt;
Latitude of missile

, Hardness

And altitude

The information is expressed as:

,

,

,

,

(here

Is the Earth's rotational angular velocity,

Represents the velocity of the missile on Earth.

Represents the acceleration value measured by the accelerometer,

Represents the measured value of each speedometer.

Includes the Earth's gravity.

Is the latitude of the missile,

Hardness and

Is an altitude). ≪ / RTI >
The method of claim 3,
Wherein the tolerance range includes a gain and a time delay for the corresponding item in an error equation to include a range of allowable values for the corresponding items of the first and second telemetry data, And a reference path for real-time inspection of the integrated electronic device. 6. The method of claim 5,
In order to automate the check result, an error formula for generalizing the method of setting the error range with respect to the reference path

(Where x _max is the error maximum boundary value, x _min is the error minimum boundary value, K is the gain,

Is defined as a nominal trajectory of a guided vehicle, t is a guided fly flight time, and t _d is a time delay.
The method according to claim 1,
Further comprising: processing a graphical user interface to display the first telemetry data or the second telemetry data. ≪ Desc / Clms Page number 21 >
The method according to claim 1,
Wherein the first guide vehicle state comprehensive information is prepared in advance in the test set and the second guide vehicle state comprehensive information is transmitted from the integrated electronic device to the test set at regular intervals. Way.

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