基于Pixhawk飞控的硬件在环仿真系统设计  

Design of hardware-in-the-loop simulation system based on Pixhawk flight control system

作　　者：吴和龙 向政蓉 高宇航 杨剑锋 蔡茗茜 吴其琦[3] WU Helong;XIANG Zhengrong;GAO Yuhang;YANG Jianfeng;CAI Mingxi;WU Qiqi(China Electronic Product Reliability and Environment Testing Research Institute,Guangzhou 511370;Academy of Mechanical and Electrical Engineering,Guangxi Science&Technology Normal University,Laibin 546199;Academy of Automation,Guangxi University of Science and Technology,Liuzhou 545006)

机构地区：[1]工业和信息化部电子第五研究所,广州511370 [2]广西科技师范学院机械与电气工程学院,来宾546199 [3]广西科技大学自动化学院,柳州545006

出　　处：《高技术通讯》2024年第1期46-53,共8页Chinese High Technology Letters

基　　金：广西科技师范学院青年科研基金(GXKS2022QN027);广州市科技计划项目(2023A04J0263);工业和信息化部电子第五研究所专项基金(23Z07,22Z17);广东省重点领域研发计划项目(2020B0404020002)资助。

摘　　要：Pixhawk飞控在民用无人机(UAV)领域得到广泛应用。为了在Pixhawk飞控上实现硬件在环仿真功能以达到验证飞控飞行性能的目的,设计了基于Pixhawk飞控的四旋翼无人机硬件在环仿真系统。通过构建四旋翼机体模型,实现模型在电机转速信号的驱动下输出位姿数据;位姿数据传输到飞控并重构为模拟传感器数据,飞控内核对传感器数据处理后输出电机转速信号驱动模型飞行,由此构成飞控硬件在环的仿真环路。在测试中使用相同航线进行了仿真飞行与真实飞行,并计算2种飞行模式数据的相关系数,系数普遍高于0.85,表明获得了较为逼真的仿真效果。Pixhawk flight control has been widely applied in the field of civilian unmanned aerial vehicle(UAV).In order to realize hardware-in-the-loop simulation function on Pixhawk flight control system to verify the flight control performance,a quadrotor UAV hardware-in-the-loop simulation system based on Pixhawk flight control system is designed.By constructing a quadrotor airframe model,the model outputs position and attitude data driven by motor speed signals.The position and attitude data are transmitted to the flight control system and reconstructed into the analog sensor data.The flight control system processes the sensor data and outputs the motor speed signal to drive the UAV model to fly.In the experiment,the same route is used for simulation flight and real flight,and the correlation coefficient of the data of the two flight modes are calculated.The coefficient is generally higher than 0.85,indicating that a more realistic simulation effect is obtained.

关 键 词：无人机(UAV)仿真 硬件在环 Pixhawk飞控 模拟传感器 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1[自动化与计算机技术—计算机应用技术] TP391.9[自动化与计算机技术—计算机科学与技术]