Modeling And Validation Of The Embedded Flight Control Software System For UAV Based On Rhapsody

This thesis was derived from the research program,High-level Design and Digital simulation for Integrated System. The research mainly was about the development of UAV (Unmanned Aerial Vehicles) flight control software based on Rhapsody. The major research work of the research is as following.1,The paper briefly described the research background and current situation of the research program at home and abroad, and introduced the sources and research significance.2,Firstly, the paper briefly introduced MDD (Model Drive Development) and UML(Unified Modeling Language). Secondly, the basis of Rhapsody and software development of flight control system was presented summarily. Thirdly, a software platform for UAV flight control system using real-time ArmLinux operating system and Rhapsody was built.3,The application of UML in the requirement analysis of flight control software system was carried on. The user requirement was captured by use case in UML,and the system function for the user was described in the use case diagram.The class model of key field was made by class dia-gram,and the relations of classes were described.The dynamic model was made by sequence diagram.4,The application of UML in the modeling of dynamic behaviors of flight control software system is carried on in the statechart diagram. Then,in order to make computer protect software platform to facilitate transplantation,the con-cept of embedded operating system is abstracted.And theoperating system layer is established. OXF is the foundation of the construction of computer protect software platform. Based on careful study of OXF framework,We have detailly designed and implemented the content of OXF.And have given a example to analysis its event-driven mechanism.5,In order to make the development of application software platform-independent,OXF,the real-time software framework of Rhapsody,uses a layered structure based on the abstraction of the operating system. Then the implementation of the adapter for the concrete embedded OS ArmLinux was given.6,The correctness of design was validated through three ways: (1). The detection of semantic grammar by GMR. (2).The software debug by the animation mode. (3).The Simulation Verification with Simulink and VC.