虚实融合的无人机集群仿真系统设计  

Design of virtual reality fusion UAV cluster simulation system

作　　者：柴兴华 王泽旭 杨建永[1] 何文志[1] 陈彦桥 CHAI Xinghua;WANG Zexu;YANG Jianyong;HE Wenzhi;CHEN Yanqiao(54th Research Institute of China Electronics Technology Group Corporation,Shijiazhuang 050081,China;Hebei Province Key Laboratory of Intelligent Measurement and Control Information Technology for Unmanned Systems,Shijiazhuang 050081,China;Unit 91395 of the People's Liberation Army of China,Beijing 102401,China)

机构地区：[1]中国电子科技集团公司第五十四研究所,河北石家庄050081 [2]河北省无人机系统智能测控信息技术重点实验室,河北石家庄050081 [3]中国人民解放军91395部队,北京102401

出　　处：《实验技术与管理》2024年第12期127-135,共9页Experimental Technology and Management

基　　金：国家自然科学基金项目(62101517)。

摘　　要：为解决面向复杂任务的无人集群协同算法半实物演示验证问题,基于模块化、层次化的系统设计架构以及模型、方法模块化集成的总体思想,设计了一种虚实融合的无人机集群仿真系统。该验证系统同时包含服务端的集中-分布混合式数字仿真节点以及嵌入式端的分布式半物理节点两种模态,通过集中式算子和分布式算子的差异化部署及有效融合,可在不同模态的无人机节点间实现数据交互、任务协同。该系统既能作为无人机集群协同算法开发的仿真验证平台,又能为任务要素及场景设计提供同半实物验证环境。通过构建大规模非均匀动态目标协同搜索覆盖场景,验证了系统在无人机集群仿真、半实物、实物验证中的支撑作用。[Objective]The validation of unmanned cluster algorithms and their functions and collaborative effects for various scenarios has become one of the main bottlenecks hindering the transition of unmanned cluster technology from theoretical research to engineering applications.First,the development of unmanned cluster algorithms is rapid,but most of them are at the theoretical and simulation levels,and there is a significant gap between them and practical applications.Second,unmanned cluster collaboration algorithms are often complex and are difficult to verify directly in physical systems.They are supported by many conditions unrelated to the algorithm itself,such as system stability,unmanned platform control,navigation and positioning,and limited computing resources.Finally,from the algorithm level to engineering applications,processes such as algorithm design,algorithm simulation,semiphysical simulation,physical system design,and physical system testing are usually involved.Simulation and semiphysical simulation are essential.However,current digital environments for unmanned cluster verification are mostly pure simulation environments,with effective semiphysical simulation environments as an important transitional step being rarely addressed.Therefore,constructing a semiphysical verification system that can verify unmanned cluster collaborative algorithms,as well as elements and scene design for practical applications,is of great theoretical and practical significance in verifying the application effects of unmanned clusters in many special scenarios.[Methods]This study constructed a computer-based digital simulation system and a semiphysical simulation cluster node based on an embedded onboard system:the virtual real fusion unmanned aerial vehicle(UAV)cluster simulation system.This system is based on algorithm simulation and semiphysical operation and manages tasks to be verified as a whole.It can achieve verification through embedded board interconnection for semiphysical verification and can be extended to add

关 键 词：仿真系统 无人机集群 分布式协同 虚实融合 

分 类 号：TP319[自动化与计算机技术—计算机软件与理论]