旋翼无人机航迹控制半实物仿真系统设计  

Hardware-in-Loop Simulation System for Small Rotor UAV Based on JMAVSim

作　　者：蒋祎 廖俊[1] 陈琪峰 JIANG Yi;LIAO Jun;CHEN Qi-feng(School of Aeronautics and Astronautics,Central South University,Changsha Hunan 410006,China)

机构地区：[1]中南大学航空航天学院,湖南长沙410006

出　　处：《计算机仿真》2019年第3期27-31,共5页Computer Simulation

基　　金：中南大学科研创新项目小型无人机编队平台研究(1053320171290)

摘　　要：研究旋翼无人机控制半实物仿真的问题,将旋翼无人机飞控接入仿真计算机,遥控器控制或设置自主飞行模拟户外实验时旋翼无人机飞行性能,但是目前较少考虑旋翼无人机个体具体参数结合航迹仿真。针对小型旋翼无人机从起飞到降落过程中的关键动力学和运动学问题,建立了无人机运动过程中的六自由度动力学模型和运动学模型,构造了小型旋翼无人机半实物仿真框架。结合小型旋翼无人机飞行环境因素和无人机GPS信息等传感器信息模拟,对小型旋翼无人机建立了基于JMAVSim的可视化半实物仿真模型。实验通过地面站预先设置小型旋翼无人机航迹,设置无人机自主飞行,对比小型旋翼无人机半实物仿真航迹,两者高度吻合。上述旋翼无人机半实物仿真系统使用真实飞行源码,结合地面站QGroundControl提供的仿真模型,与真实飞行高度相似,具有操作便捷,适用性广的特点。Research hardware-in-loop simulation of rotor UAV control problem,access flight control unit to the simulation computer,the remote control or set up autonomous flight simulation of outdoor experiment rotor UAV flight performance.But at present,the specific parameters of the rotor uav are combined with the flight trace simulation.Focusing on the key dynamics and kinematics problems of the small rotor unmanned aerial vehicle from takeoff to land,the detail six degrees of freedom dynamics model and kinematics model in view of the motion process of the small rotor unmanned aerial vehicle were built in this article.The simulation framework of the small rotor unmanned aerial vehicle was constructed.In addition,a visual semi-physical simulation model based on JMAVSim was established for the small rotor unmanned aerial vehicle based on the flight environment factor and sensor information simulation such as GPS information.By preseting the track of the small rotor unmanned aerial vehicle in the ground station,the experiment set up the UAV autonomous flight.Contrast of the small rotor unmanned aerial vehicle simulation track shows that they are highly consistent.Combining the real flying source code with the ground the simulation model of station QGroundControl,the hardware-in-the-loop simulation is similar to the real flight altitude,and it has the characteristics of convenient operation and wide applicability.

关 键 词：小型旋翼无人机 可视化 半实物仿真 航迹 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]