모델기반 개발기술을 적용한 무인항공기 비행제어 소프트웨어 개발

This paper describes the Model-Based Development(MBD) process behind the flight control software of a close-range unmanned aerial vehicle(KUS-9). An integrated development environment was created using a commercial tool(MATLAB Simulink®), which was utilized to design. models for linear/nonlinear simulation, flight control law, operational logic and HILS (Hardware In the Loop Simulation) system. Software requirements were validated through flight simulations and peer reviews during the design process, whereas the models were verified through the application of a DO-178B verification tool. The integrity of automatically generated C code was verified by using a separate S/W testing tool. The finished software product was embedded on two different types of hardware and real-time operating system(uC/OS-Ⅱ, VxWorks) to perform HILS and flight tests. The key findings of this study are that MBD Technology enables the development of a reusable and an extensible software product and auto-code generation technology allows the production of a highly reliable flight control software under a compressed time schedule.