飞行器控制软件的Statechart原型及其验证

为快速构建飞行器控制软件的系统功能与行为模型，以无人飞行器为时象研究了一种飞控软件的Statechart原型(简称SCP)及其验证技术。基于软件虚拟原型，该SCP采用形式化语言Statechart对飞控软件进行自顶而下的功能与行为建模。先通过顶层模块定义系统的入口与主流程，接着构造两个并发的子模块：主控模块描述飞行控制与设备管理的状态演变，定时控制模块完成控制输出的实时更新。之后分别从语法、功能及性能3个层面对SCP进行验证与测试，并给出相关实验。该SCP具有层次性、模块化、可视化、可执行和快速反应等特点，适用于各种复杂嵌入式系统(包括有人飞行器和高空高速无人飞行器的飞控系统)的软件规范设计。

Statechart Prototype of Flight Control Software and Its Verification

To quickly build a system model of functions and behaviors for flight control software, a Statechart prototype (SCP) of the software and its verification are studied by taking unmanned aerial vehicle (UAV) as an example. Based on virtual prototypes of the software, SCP models the function and behavior of the flight control software in a top-down manner with the formal language-Statechart. On the SCP, the system entry and the main flow are defined in a top-layer module, and then two concurrency sub-modules are constructed: the primary one describes state transitions of flight control and facility management, and the timed one accomplishes real-time updates of control laws. Verifications and experiments of SCP are carried out from three aspects of grammar, function and performance. The SCP has several advantages of clear hierarchy, well modularized, visualized, executable and rapid reaction, etc. So it can be applied to the software design of complex embedded systems including flight control systems of manned aerial vehicles and high-altitude and high-speed UAV.