软件规模与复杂度的迅速增长已成为设计与检验现代高质量无人机飞行控制软件(FCS)系统的重要挑战.采用模型驱动工程(MDE)的框架,使用嵌入式实时系统建模语言(MARTE)建立起某型无人机飞控软件系统的模型,给出了基于时间自动机的系统动态行为的形式化模型实例;结合无人机FCS系统的应用背景,建立了基于时间自动机模型的测试用例生成方法,包括建立测试用例生成框架、测试用例生成规则以及用例生成策略等;对某型无人机飞控软件系统中的主控模块进行了建模与测试用例生成的实例分析研究.%The rapid growth of software size and complexity has become an important challenge for designing and verifying modern high-quality UAV flight control software (PCS) system. Based on the architecture of Model Driven Engi-neering(MDE),an UAV flight control software model was established by using embedded real-time system modeling language(MARTE) ,and an example of formal model for system dynamic behaviors based on timed automata was given. Considering the application background of UAV PCS system, we proposed a test case generation method based on timed automata, including establishment of testing architecture,coverage rules and strategies of test case generation. Lastly.a case study of timed automata modeling and test case generation for the main control module of an UAV FCS system were provided.
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