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At present, embedded software testing automation is a hot topic and the test case automatic generation is one of the key problems. In this paper, UML and scenario technology are introduced into embedded software testing field. Based on the formal definition and testing coverage criteria of testing scenario, the description method of testing scenario based on UML activity diagram is studied firstly. And then, the generation algorithm of testing scenario and test case are put forward and the problem of test case automatic generation for embedded software is solved. With the successful application of the method in actual avionics embedded software testing, the correctness and effectiveness of the method are validated.