CN107719622A - The stratospheric airship automatic test approach of Behavior-based control logic - Google Patents
The stratospheric airship automatic test approach of Behavior-based control logic Download PDFInfo
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- CN107719622A CN107719622A CN201710941007.7A CN201710941007A CN107719622A CN 107719622 A CN107719622 A CN 107719622A CN 201710941007 A CN201710941007 A CN 201710941007A CN 107719622 A CN107719622 A CN 107719622A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/06—Rigid airships; Semi-rigid airships
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/60—Testing or inspecting aircraft components or systems
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Abstract
The invention belongs near space stratospheric airship field, it is related to a kind of stratospheric airship automatic test approach of Behavior-based control logic, this method provides dirigible system testing Action logic and main behavioral test by analyzing stratospheric airship controlling behavior logic, builds stratospheric airship test site test pattern and test system on this basis；And give the design of test program function implementation.The stratospheric airship automatic test approach of Behavior-based control logic of the present invention can realize the automatic test to stratospheric airship systemic-function, and its test system is succinct, be easy to build；With preferable versatility, independent of specific dirigible systems technology feature；Dirigible test instruction is converted to by dirigible control instruction by intermediate command switching software, the security of behavioral test is ensure that, avoids maloperation caused by directly controlling dirigible system possible；Testing process shortens test time, improves testing efficiency using being write before text document examination.
Description
Technical field
The invention belongs near space stratospheric airship field, and it is automatic to be related to a kind of stratospheric airship of Behavior-based control logic
Method of testing, carry out the examination test of stratospheric airship function especially suitable for test site.
Background technology
Stratospheric airship refers to provide uplift by buoyance lift gas, manipulates and fly by propulsion system and control system realization
OK, long-term work is in the less altitude range of stratosphere mean wind speed, and performs the floating class aircraft of particular task.Stratosphere
Dirigible has the long-term ability for staying empty, fixed point flight and round-the-clock real-time working, and it is pre- to can be widely used for earth observation, region
The fields such as police, space exploration, remote sensing, communication relay, there is irreplaceable military and civilian to be worth.
In general, stratospheric airship system by energy subsystem, tracking-telemetry and command subsystem, peace control subsystem, fly control subsystem,
Structure subsystem etc. is formed.Energy subsystem provides power supply supply for stratospheric airship system, and tracking-telemetry and command subsystem is typically by multiple
The line of sight link and satellite communication link of wave band are formed, realize to safety control command, fly the control instructions such as control instruction upload and
The biography down of data on ship.Peace control subsystem realizes the release of dirigible helium and the cutting of structure utricule under case of emergency, realizes and flies
Dirigible lands in an emergency during row experiment.Structure subsystem is mainly by utricule, the various sensor (TEMPs being installed on utricule
Device, pressure sensor etc.), blower fan and valve etc. perform structure etc. and form.Fly control subsystem by flight control computer, inertial navigation unit etc.
Form, the flight control to stratospheric airship is realized together with structure subsystem.
Stratospheric airship development needs to carry out flight test to verify dirigible general technical and carry out related application after terminating.Cause
Stratospheric airship system is complex, to ensure flight test safety, need to carry out dirigible subsystem function at test site before experiment
Examination test and total system strike-machine are tested to ensure the functional reliability of dirigible system.
At present, system testing is deposited using artificial on duty and interpretation pattern, such a pattern more before stratospheric airship flight test
To tester's degree of dependence is higher, automaticity and testing efficiency are relatively low the shortcomings that.It is in addition, big during dirigible system development
More no reserved test interfaces, certain difficulty is brought to direct actuator unit test, subsystem test etc. carried out.
The content of the invention
It is an object of the invention to provide a kind of method of testing, meets test site stratospheric airship System Functional Test demand.
To achieve these goals, the present invention proposes a kind of stratospheric airship automatic test approach of Behavior-based control logic,
The composition of the stratospheric airship includes energy subsystem, tracking-telemetry and command subsystem, peace control subsystem, winged control subsystem, structure point
System, the method for testing comprise the following steps：
S1, by stratospheric airship subsystem composition and functional analysis, drawing stratospheric airship controlling behavior logic；
S2, stratospheric airship system body Action logic is obtained by stratospheric airship system controlling behavior logic；
S3, stratospheric airship system testing Action logic is designed by stratospheric airship system body Action logic；
S4, behavioral test and testing process design
Stratospheric airship behavioral test includes the selection of dirigible experimental stage, the selection of dirigible TTC channel, the load control of dirigible ship
Computer selects and the selection of dirigible executing agency；
Testing process is made up of behavioral test, and make a flight test stage selection first, then carries out dirigible TTC channel choosing
Select, then carry out dirigible ship and carry control computer selection, finally carry out the selection of dirigible executing agency；
S5, stratospheric airship test site test pattern is established by stratospheric airship system testing Action logic
Test program sends test instruction, is converted into control instruction by intermediate command switching software to control dirigible systematically
The pattern of face main control computer；
Intermediate command switching software is worked out by dirigible system, function be test command reception state confirmation, test instruction with
The conversion of control instruction, complete the conversion of dirigible telemetry frame format and the dirigible status data formed after conversion is transmitted to survey
Try program；
S6, according to stratospheric airship test site test pattern design experiment field test system
Test site test system includes test program and subtest equipment；The function of test program is given birth to including testing process
Into, test director data frame generation, send test director data frame and read test command reception status data frame, subtest
Equipment control, the data for reading dirigible status data and the acquisition of subtest equipment, judge test execution state, provide test knot
By；
S7, the design of test program function implementation
S71, testing process are made up of behavioral test, by behavioral test editor in text document, form testing process text
This document；
S72, behavioral test definition design in testing process
Behavioral test defines the form using 16 system characters, and behavioral test definition is compiled in text document, is formed and surveyed
Try to define text document；
S73, the generating mode design of test director data frame
The frame generation of test director data defines the side of text document using read test flow text document with behavioral test
Formula；
S74, test command reception status data frame design with dirigible status data frame format；
S75, test director data frame, test command reception status data frame, the transmission of dirigible status data frame using UDP or
ICP/IP protocol；
S76, the control of subtest equipment
Pass through interchanger and the existing remote control of LAN causes for gossip.
Further, the composition of energy subsystem includes energy management device, energy-storage battery group and solar battery group；
The composition of tracking-telemetry and command subsystem includes carrier-borne measuring and controlling equipment, dirigible system ground control station and the ground master control of dirigible system
Computer；
The composition of peace control subsystem includes peace control computer, flies the composition of control subsystem and includes flight control computer；
The composition of structure subsystem includes data acquisition unit and executing agency, and the composition of data acquisition unit includes temperature
Sensor, pressure sensor, inertial navigation unit, the composition of executing agency include blower fan, valve, motor, priming system cutter device.
Further, the stratospheric airship controlling behavior logic obtained in step S1 is as follows：
Data acquisition unit is by the dirigible status data transfers of collection to flight control computer/peace control computer；Fly control to calculate
Machine is transmitted to ground control station under dirigible status data is carried into measuring and controlling equipment in the form of telemetry by ship；Dirigible system ground
The telemetry that main control computer parsing ground control station receives, judges dirigible system mode by telemetry, and according to dirigible
System mode sends control instruction；Control instruction is uploaded to ship in the form of telecommand and carries observing and controlling by dirigible system ground control station
Equipment；Flight control computer/peace control computer analyzing telecommand, control dirigible correlation executing agency and equipment start；Execution machine
After structure and equipment start, dirigible state change.
Further, stratospheric airship system body Action logic is as follows in step S2：
The telemetry of dirigible system ground main control computer parsing tracking-telemetry and command subsystem, judges dirigible system mode, and root
Telecommand, which is sent, according to dirigible system mode controls computer to flight control computer or peace to control executing agency and equipment start.
Further, stratospheric airship system testing Action logic is as follows in step S3：
By sending test instruction control ground main control computer and receiving the status data of ground main control computer forwarding
Realize the functional test to dirigible system.Test instruction is formed according to dirigible system testing behavior.
The stratospheric airship automatic test approach of Behavior-based control logic of the present invention can be realized to stratospheric airship systemic-function
Automatic test, its test system is succinct, is easy to build；With preferable versatility, independent of specific dirigible systems technology
Feature；Dirigible test instruction is converted to by dirigible control instruction by intermediate command switching software, ensure that the peace of behavioral test
Quan Xing, avoid maloperation caused by directly controlling dirigible system possible；Testing process shortens and surveyed using being write before text document examination
Time is tried, improves testing efficiency.
Accompanying drawing and its simple declaration
Fig. 1 is stratospheric airship controlling behavior logical schematic.
Fig. 2 is stratospheric airship subject behavior logical schematic.
Fig. 3 is stratospheric airship system testing Action logic schematic diagram.
Fig. 4 is that stratospheric airship tests overall behavior schematic flow sheet.
Fig. 5 is stratospheric airship test site test pattern schematic diagram.
Fig. 6 is that behavioral test defines in embodiment.
Fig. 7 is testing process in embodiment.
Fig. 8 is the test program function interface of establishment.
Embodiment
A kind of stratospheric airship automatic test approach of Behavior-based control logic, the composition of the stratospheric airship include the energy
Subsystem, tracking-telemetry and command subsystem, peace control subsystem, winged control subsystem, structure subsystem, the composition of energy subsystem includes can source capsule
Manage device, energy-storage battery group and solar battery group；The composition of tracking-telemetry and command subsystem includes carrier-borne measuring and controlling equipment, dirigible system ground is surveyed
Control station and dirigible system ground main control computer；The composition of peace control subsystem includes peace control computer, flies the composition of control subsystem
Including flight control computer；The composition of structure subsystem includes data acquisition unit and executing agency, the composition of data acquisition unit
Including temperature sensor, pressure sensor, inertial navigation unit, the composition of executing agency includes blower fan, valve, motor, priming system and cut
Cut device.Ship carries stratospheric airship integration of equipments and adopted in data such as dirigible Aerial Electronic Equipment gondola, sensor, blower fan, valve, motors
Collecting unit can be in surface deployment with executing agency.
Method of testing comprises the following steps：
S1, by stratospheric airship subsystem composition and functional analysis, drawing stratospheric airship controlling behavior logic；
Stratospheric airship controlling behavior logic can be summarized as the logic behavior shown in Fig. 1.Temperature sensor, pressure sensing
The data acquisition units such as device, inertial navigation unit are by the dirigible status data transfers of collection to flight control computer/peace control computer；Fly control
Computer is transmitted to ground control station under dirigible status data is carried into measuring and controlling equipment in the form of telemetry by ship；Dirigible system
The telemetry that main control computer parsing ground control station in ground receives, dirigible system mode is judged by telemetry, and according to
Dirigible system mode sends control instruction；Control instruction is uploaded to ship in the form of telecommand and carried by dirigible system ground control station
Measuring and controlling equipment；Flight control computer/peace control computer analyzing telecommand, control dirigible correlation executing agency and equipment start；Hold
After row mechanism and equipment start, dirigible state change.
S2, stratospheric airship system body Action logic is obtained by stratospheric airship system controlling behavior logic；
As shown in Fig. 2 the telemetry of dirigible system ground main control computer parsing tracking-telemetry and command subsystem, judges dirigible system
State, and telecommand is sent according to dirigible system mode and controls computer to flight control computer or peace to control executing agency and set
Standby start.
S3, stratospheric airship system testing Action logic is designed by stratospheric airship system body Action logic；By advection
Layer dirigible system body Action logic understands that ground main control computer controls main body for it.Therefore, as shown in figure 3, stratosphere flies
Ship system testing Action logic is：Turned by sending to test instruction control ground main control computer and receive ground main control computer
The status data of hair realizes the functional test to dirigible system.Test instruction is formed according to dirigible system testing behavior.
S4, behavioral test and testing process design
Stratospheric airship behavioral test include dirigible experimental stage selection (i.e. ground, risings, in sky, decline four-stage
Selection), dirigible TTC channel selection (i.e. line of sight link selection or satellite communication link selection), dirigible ship carry control computer select
Select (i.e. flight control computer or peace control computer selection) and dirigible executing agency select (i.e. blower fan, valve, motor, priming system are cut
Cut the selection of the executing agencies such as device)；
Testing process is made up of behavioral test, and overall test flow is as shown in figure 4, the stage choosing that makes a flight test first
Select, then carry out dirigible TTC channel selection, then carry out dirigible ship and carry control computer selection, finally carry out dirigible executing agency
Selection；
S5, stratospheric airship test site test pattern is established by stratospheric airship system testing Action logic
As shown in figure 5, test program sends test instruction, control instruction is converted into by intermediate command switching software to control
The pattern of dirigible system ground main control computer；
Intermediate command switching software is worked out by dirigible system, function be test command reception state confirmation, test instruction with
The conversion of control instruction, complete the conversion of dirigible telemetry frame format and the dirigible status data formed after conversion is transmitted to survey
Try program；
Dirigible status number of the judgement of test execution state dependent on test program parsing intermediate command switching software forwarding
According to the data obtained with subtest equipment.
Such a test pattern has the advantage that：Because of the Multiple Type stratospheric airship system control of Duo Jia research institutes research and development
Instruction format and telemetry frame format are inconsistent, and Multiple Type stratospheric airship system is suitable for by intermediate command switching software
System；The security of behavioral test can be ensured, avoid test site test program from directly controlling dirigible system ground main control computer can
Maloperation caused by energy.
S6, according to stratospheric airship test site test pattern design experiment field test system
Test site test system includes test program and subtest equipment；The function of test program is given birth to including testing process
Into, test director data frame generation, send test director data frame and read test command reception status data frame, subtest
Equipment control, the data for reading dirigible status data and the acquisition of subtest equipment, judge test execution state, provide test knot
By；
Subtest equipment includes spectrum analyzer, power meter；
From stratospheric airship subject behavior logic, dirigible tracking-telemetry and command subsystem carries equipment and dirigible system for connection dirigible ship
The key node of system ground main control computer, it includes multiple the horizon communication links and satellite communication link such as UHF, L, S, C, can
Using the subtest monitoring of equipment dirigible TTC channel switching state such as antenna, microwave cable and spectrum analyzer and break-make shape
State.
S7, the design of test program function implementation
S71, testing process are made up of behavioral test, will be by behavioral test editor according to the overall test flow shown in Fig. 4
In text document, testing process text document is formed；
S72, behavioral test definition design in testing process
Behavioral test defines the form using 16 system characters, and definition is as shown in table 1, wherein, flight test phase selection
Represented with 01~09, the selection of dirigible TTC channel is represented with A0~BF, and dirigible ship carries control computer selection with C0~CF
To represent, the selection of dirigible executing agency is represented with D0~EF.The definition of behavioral test is not limited to this, also can be according to actual feelings
Condition defines from 00~FF orders.Behavioral test definition is compiled in text document, is formed behavioral test and is defined text document；
Table 1
S73, the generating mode design of test director data frame
The frame generation of test director data defines the side of text document using read test flow text document with behavioral test
Formula；Behavioral test first in read test flow text document, then defined from behavioral test and representative is found out in text document
The hexadecimal character of this behavioral test, frame head, postamble are finally added using the hexadecimal character as data segment and before it
Composition test director data frame.It is as shown in table 2 to test director data frame format, including frame head, data segment contents length, data
Section, postamble (verification and).
Table 2
S74, test command reception status data frame design with dirigible status data frame format；Test command reception status number
According to frame by intermediate command switching software receive test instruction after generate and send to test program, frame format is as shown in table 3,
Test command reception state is represented with byte 4,4 kinds of states are represented using hexadecimal character, 01 represents reception and runs succeeded,
02 represents check errors, and 03, which represents condition, does not possess and can not perform, and 04 representative performs time-out.Dirigible status data is by dirigible remote measurement
Data generate, and extract dirigible status data in telemetry, are sent to after completing frame format conversion by intermediate command switching software
Test program.Dirigible status data frame format is as shown in table 4, by fixed frame head, data segment (dirigible state), postamble (verification
With) form.
Table 3
Table 4
S75, test director data frame, test command reception status data frame, the transmission of dirigible status data frame using UDP or
ICP/IP protocol；
S76, the control of subtest equipment
The control of subtest equipment is mainly the control of the desk-top instruments such as spectrum analyzer, power meter.By interchanger with
The existing remote control of LAN causes for gossip, such a control mode are easy to the instrument according to testing requirement extension control.
With reference to specific test case, and compare accompanying drawing 1~5, table 1-4 to the present invention method be described further.
Embodiment one
Stratospheric airship system to be measured is tested by Beijing unit development and is completed what crucial subsystem integrated in dirigible system
On the basis of carry out, dirigible system has worked out intermediate command switching software based on the method.The dirigible Big Dipper is completed using this method
Safety system is tested.
(1) Big Dipper Safety system controlling behavior logic.Dirigible ground main control computer, which is sent, passes through north in tracking-telemetry and command subsystem
Bucket terminal sends safety control command in the form of short message；Ship carries flight control computer and receives control valve start after safety control command；Valve
After door start, valve status data is by flight control computer by being transmitted to ground main control computer under Big Dipper terminal.
(2) behavioral test logical AND test pattern.Valve is pertained only to according to implementation, executing agency shown in Fig. 2 and Fig. 3.
(3) behavioral test.Flight test phase selection debugs the stage for ground；The selection of dirigible TTC channel is Beidou communication
Link (shut-off of other links)；Dirigible ship carries control computer selection, and for flight control computer, (system controls computer without peace, can not
Selection)；The selection of dirigible executing agency is valve.
(4) behavioral test defines.According to table 1, represented with hexadecimal character, 01 represents the ground debugging stage；A1, represent
Beidou communication link is opened；E1, represent valve and open, E0 represents valve pass.Behavioral test defines text as shown in Figure 6.
(5) the 2nd byte represents valve state in dirigible system state data, and A0 represents valve and is turned off；A1 represents valve
Open.
(6) testing process editor.According to the ground debugging stage, Beidou communication link is opened, valve is opened, valve pass order branch
Typing text document, testing process text is as shown in Figure 7.
(7) test program is write, test program interface is as shown in Figure 8.Subtest equipment in this test predominantly
The control of spectrum analyzer, monitoring system is formed to monitor the work of tracking-telemetry and command subsystem link using spectrum analyzer and antenna
State.
(8) 100 Big Dipper Safety system control valve on/off instructions are sent altogether using the method.In test process,
Subtest equipment does not monitor horizon communication link signal, only monitors that Big Dipper terminal sends what is launched during short message
Microwave signal in the range of 1.610GHz~1.626GHz.Control valve acts successfully 99 in 100 test instructions, Big Dipper peace
Control system control success rate is more than 98%, and test result is qualified.
Claims (5)
1. a kind of stratospheric airship automatic test approach of Behavior-based control logic, the composition of the stratospheric airship includes the energy point
System, tracking-telemetry and command subsystem, peace control subsystem, winged control subsystem, structure subsystem, it is characterised in that the method for testing includes
Following steps：
S1, by stratospheric airship subsystem composition and functional analysis, drawing stratospheric airship controlling behavior logic；
S2, stratospheric airship system body Action logic is obtained by stratospheric airship system controlling behavior logic；
S3, stratospheric airship system testing Action logic is designed by stratospheric airship system body Action logic；
S4, behavioral test and testing process design
Stratospheric airship behavioral test includes the selection of dirigible experimental stage, dirigible TTC channel selects, dirigible ship carries control and calculated
Machine selects and the selection of dirigible executing agency；
Testing process is made up of behavioral test, and make a flight test stage selection first, then carries out dirigible TTC channel selection, so
Dirigible ship is carried out afterwards and carries control computer selection, finally carries out the selection of dirigible executing agency；
S5, stratospheric airship test site test pattern is established by stratospheric airship system testing Action logic
Test program sends test instruction, is converted into control instruction by intermediate command switching software to control dirigible system ground master
Control the pattern of computer；
Intermediate command switching software is worked out by dirigible system, and function is test command reception state confirmation, test instruction and control
The conversion of instruction, complete the conversion of dirigible telemetry frame format and the dirigible status data formed after conversion is transmitted to test journey
Sequence；
S6, according to stratospheric airship test site test pattern design experiment field test system
Test site test system includes test program and subtest equipment；The function of test program include testing process generation,
The generation of test director data frame, sending test director data frame, simultaneously read test command reception status data frame, subtest are set
Standby control, the data for reading dirigible status data and the acquisition of subtest equipment, judge test execution state, provide test knot
By；
S7, the design of test program function implementation
S71, testing process are made up of behavioral test, by behavioral test editor in text document, form testing process text text
Shelves；
S72, behavioral test definition design in testing process
Behavioral test defines the form using 16 system characters, and behavioral test definition is compiled in text document, forms test row
To define text document；
S73, the generating mode design of test director data frame
The generation of director data frame is tested by the way of read test flow text document and behavioral test define text document；
S74, test command reception status data frame design with dirigible status data frame format；
S75, test director data frame, test command reception status data frame, the transmission of dirigible status data frame use UDP or TCP/
IP agreement；
S76, the control of subtest equipment
Pass through interchanger and the existing remote control of LAN causes for gossip.
A kind of 2. stratospheric airship automatic test approach of Behavior-based control logic according to claim 1, it is characterised in that energy
The composition of source subsystem includes energy management device, energy-storage battery group and solar battery group；
The composition of tracking-telemetry and command subsystem includes carrier-borne measuring and controlling equipment, dirigible system ground control station and the master control of dirigible system ground and calculated
Machine；
The composition of peace control subsystem includes peace control computer, flies the composition of control subsystem and includes flight control computer；
The composition of structure subsystem includes data acquisition unit and executing agency, and the composition of data acquisition unit includes TEMP
Device, pressure sensor, inertial navigation unit, the composition of executing agency include blower fan, valve, motor, priming system cutter device.
A kind of 3. stratospheric airship automatic test approach of Behavior-based control logic according to claim 1, it is characterised in that step
The stratospheric airship controlling behavior logic obtained in rapid S1 is as follows：
Data acquisition unit is by the dirigible status data transfers of collection to flight control computer/peace control computer；Flight control computer will
Dirigible status data is transmitted to ground control station under carrying measuring and controlling equipment in the form of telemetry by ship；The ground master control of dirigible system
The telemetry that computer analyzing ground control station receives, judges dirigible system mode by telemetry, and according to dirigible system
State sends control instruction；Control instruction is uploaded to ship load observing and controlling in the form of telecommand and set by dirigible system ground control station
It is standby；Flight control computer/peace control computer analyzing telecommand, control dirigible correlation executing agency and equipment start；Executing agency
After equipment start, dirigible state change.
A kind of 4. stratospheric airship automatic test approach of Behavior-based control logic according to claim 1, it is characterised in that step
Stratospheric airship system body Action logic is as follows in rapid S2：
The telemetry of dirigible system ground main control computer parsing tracking-telemetry and command subsystem, judges dirigible system mode, and according to winged
Ship system mode sends telecommand and controls computer to flight control computer or peace to control executing agency and equipment start.
A kind of 5. stratospheric airship automatic test approach of Behavior-based control logic according to claim 1, it is characterised in that step
Stratospheric airship system testing Action logic is as follows in rapid S3：
Realized by the status data for sending test instruction control ground main control computer and receive the forwarding of ground main control computer
Functional test to dirigible system.Test instruction is formed according to dirigible system testing behavior.
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| CN111559515A (en) * | 2020-04-28 | 2020-08-21 | 中国人民解放军63660部队 | Non-access test method for actuating mechanism of stratospheric airship |
| CN112953617A (en) * | 2020-12-24 | 2021-06-11 | 中国特种飞行器研究所 | Air and ground emergency communication system and stratospheric airship emergency communication system |
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| CN104608906A (en) * | 2014-12-05 | 2015-05-13 | 中国航空工业集团公司第六三一研究所 | Stratospheric airship task control subsystem |
| CN105059523A (en) * | 2015-08-17 | 2015-11-18 | 中国电子科技集团公司第十八研究所 | Stratosphere airship energy manager |
| CN106598032A (en) * | 2016-12-28 | 2017-04-26 | 中国航空工业集团公司西安飞机设计研究所 | Test system of automatic flight control system |
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| CN109808915B (en) * | 2018-12-28 | 2022-02-01 | 中国人民解放军63660部队 | Multi-station relay measurement and control system and method for long-endurance large-range flight test |
| CN111559515A (en) * | 2020-04-28 | 2020-08-21 | 中国人民解放军63660部队 | Non-access test method for actuating mechanism of stratospheric airship |
| CN111559515B (en) * | 2020-04-28 | 2023-03-03 | 中国人民解放军63660部队 | Non-access test method for actuating mechanism of stratospheric airship |
| CN112953617A (en) * | 2020-12-24 | 2021-06-11 | 中国特种飞行器研究所 | Air and ground emergency communication system and stratospheric airship emergency communication system |
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