¹College of Automation, Nanjing University of Aeronautics and Astronautics, Nanjing, China
²Institute of Information Engineering, Henan University of Animal Husbandry Economy, Zhengzhou, China

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Abstract—B is a formal method which enables the automatic generation of an executable code through successive refinements from an abstract specification. Unified Modeling Language (UML) specifications can be formally verified by analyzing the corresponding B specification, and integration of UML specifications and B method can overcomes the drawbacks of UML. In this paper the Class diagram of the flight control system is presented and each class operation is mapped to a B abstract machine. The flight control software behaviors are presented in the form of statecharts The B method is adopted to translate the statecharts into B specification of flight control software.Using UML and B method, flight control is refined and failure management is added. Finally proof obligations are presented to ensure the safety for the ertical control of artificial navigation of UAV.

Index Terms—Flight control software; UML; Class operation; Statechart; B method; Refinement

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Cite: Jiufu Liu, Jianyong Zhou, Chunsheng Liu, Zhong Yang, Zhisheng Wang, Yifan Zhang, "Modeling and Analyzing Flight Control Software of Unmanned Aerial Vehicle Using UML and B Method," Journal of Software vol. 9, no. 4, pp. 800-806, 2014.