CN111736487A - A hardware-in-the-loop simulation system and method for a rotary-wing unmanned aerial vehicle cooperative control system - Google Patents
A hardware-in-the-loop simulation system and method for a rotary-wing unmanned aerial vehicle cooperative control systemDownload PDFInfo
- Publication number
- CN111736487A CN111736487ACN202010574340.0ACN202010574340ACN111736487ACN 111736487 ACN111736487 ACN 111736487ACN 202010574340 ACN202010574340 ACN 202010574340ACN 111736487 ACN111736487 ACN 111736487A
- Authority
- CN
- China
- Prior art keywords
- rotor
- control system
- uav
- drone
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000004088simulationMethods0.000titleclaimsabstractdescription87
- 238000000034methodMethods0.000titleclaimsabstractdescription28
- 230000000007visual effectEffects0.000claimsabstractdescription39
- 230000033001locomotionEffects0.000claimsabstractdescription35
- 238000009434installationMethods0.000claimsabstractdescription22
- 238000004891communicationMethods0.000claimsdescription26
- RZVHIXYEVGDQDX-UHFFFAOYSA-N9,10-anthraquinoneChemical compoundC1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1RZVHIXYEVGDQDX-UHFFFAOYSA-N0.000claimsdescription13
- 238000011897real-time detectionMethods0.000claims1
- 238000001514detection methodMethods0.000description9
- 230000005540biological transmissionEffects0.000description5
- 238000010586diagramMethods0.000description4
- 238000012795verificationMethods0.000description3
- 230000007613environmental effectEffects0.000description2
- 238000005259measurementMethods0.000description2
- 238000011160researchMethods0.000description2
- 230000009286beneficial effectEffects0.000description1
- 230000000903blocking effectEffects0.000description1
- 238000010276constructionMethods0.000description1
- 238000013461designMethods0.000description1
- 230000000694effectsEffects0.000description1
- 238000002474experimental methodMethods0.000description1
- 238000000926separation methodMethods0.000description1
- 238000006467substitution reactionMethods0.000description1
- 238000012800visualizationMethods0.000description1
Images
Classifications
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及旋翼无人机协调控制系统优劣的检测领域，具体涉及一种旋翼无人机协同控制系统用的半实物仿真系统及方法。The invention relates to the field of detection of the pros and cons of a rotor unmanned aerial vehicle coordinated control system, in particular to a semi-physical simulation system and method for a rotor unmanned aerial vehicle coordinated control system.
背景技术Background technique
旋翼无人机近年来在军事、民用和商业领域都受到广泛的使用，与固定翼或直升机等相比，旋翼无人机结构简单、体积小、成本低、安全性好，而且垂直起降功能使旋翼无人机起飞和降落不受场景约束。然而，单架次无人机执行任务时，其巡航时间、负载能力和飞行范围受到很大制约。因此，通过合理分配载荷设备，多架次旋翼无人机系统执行任务可以覆盖更大的区域，更高效率地完成系统侦察、探测以及运输等任务。为保证旋翼无人机协同完成任务，协同控制系统发挥很大的作用；协同控制系统保证单个旋翼无人机安全稳定飞行的同时，还可以令多架次间保持合适的距离以避免发生碰撞或脱离机群。In recent years, rotary-wing UAVs have been widely used in military, civil and commercial fields. Compared with fixed-wing or helicopters, rotary-wing UAVs have simple structure, small size, low cost, good safety, and vertical take-off and landing function. Make the take-off and landing of the rotorcraft unconstrained by the scene. However, when a single-sort UAV performs a mission, its cruising time, load capacity and flight range are greatly restricted. Therefore, by reasonably distributing the load equipment, the multi-sort rotor UAV system can perform tasks to cover a larger area and complete the tasks of system reconnaissance, detection and transportation more efficiently. In order to ensure the coordinated completion of tasks by the rotorcraft, the collaborative control system plays a very important role; the collaborative control system ensures the safe and stable flight of a single rotorcraft, and can also maintain a suitable distance between multiple sorties to avoid collision or separation. fleet.
目前大多数的旋翼无人机协同控制系统设计都是基于仿真软件完成，用仿真软件模拟其运行状态，然后根据仿真得到的参数评价协同控制系统的优劣性。少数的协同控制系统验证平台采用真实的无人机、定位系统、地面站和通信模块，每个无人机上均集成有控制器，使协同控制算法的优劣性能够以实物的形式得到验证。但是实际的工作状态与仿真软件模拟的运行状态相比，往往存在较大的偏差，仿真软件无法做到完全还原飞行过程中协同控制系统的工作状态，因此仿真软件评估协同控制算法所需要的各种数据不够精确。如果无人机、定位系统、通信模块等都采用真实设备，其结构复杂，搭建过程会耗费很大成本，而且更换无人机的尺寸或传感器的型号，都会对整个系统带来影响，更改不灵活，通用性差。At present, most of the cooperative control system design of rotary-wing UAV is completed based on simulation software. The simulation software is used to simulate its operation state, and then the advantages and disadvantages of the cooperative control system are evaluated according to the parameters obtained from the simulation. A few collaborative control system verification platforms use real UAVs, positioning systems, ground stations, and communication modules. Each UAV is integrated with a controller, so that the advantages and disadvantages of collaborative control algorithms can be verified in physical form. However, there is often a large deviation between the actual working state and the running state simulated by the simulation software, and the simulation software cannot completely restore the working state of the collaborative control system during the flight. The data are not precise enough. If the UAV, positioning system, communication module, etc. all use real equipment, its structure is complex, and the construction process will cost a lot of money, and changing the size of the UAV or the model of the sensor will have an impact on the entire system. Flexible and poor versatility.
由于上述原因，本发明人对现有的旋翼无人机协同控制系统的仿真验证系统做了深入研究，设计出一种能够解决上述问题的半实物仿真系统及方法，能够快速方便地验证旋翼无人机协同控制系统的优劣性。Due to the above reasons, the inventors have conducted in-depth research on the simulation verification system of the existing rotor UAV cooperative control system, and designed a hardware-in-the-loop simulation system and method that can solve the above problems, and can quickly and easily verify that the rotor has no Advantages and disadvantages of human-machine collaborative control system.
发明内容SUMMARY OF THE INVENTION
为了克服上述问题，本发明人进行了锐意研究，设计出一种旋翼无人机协同控制系统用的半实物仿真系统及方法，该系统包括控制系统安装平台、旋翼无人机仿真平台和视景显示屏；所述控制系统安装平台用于安装旋翼无人机协同控制系统，所述旋翼无人机仿真平台用于模拟任务执行过程；所述视景显示屏用于实时显示旋翼无人机的运动轨迹，从而通过观察视景显示屏中的运动轨迹来判断旋翼无人机协同控制系统的优劣，从而完成本发明。In order to overcome the above-mentioned problems, the inventors of the present invention have carried out keen research and designed a semi-physical simulation system and method for the cooperative control system of the rotary-wing UAV. The system includes a control system installation platform, a rotary-wing UAV simulation platform and a visual field. Display screen; the control system installation platform is used to install the rotor drone cooperative control system, and the rotor drone simulation platform is used to simulate the task execution process; the visual display screen is used to display the rotor drone in real time. The motion trajectory is determined by observing the motion trajectory in the visual display screen to judge the pros and cons of the cooperative control system of the rotary-wing unmanned aerial vehicle, thereby completing the present invention.
具体来说，本发明的目的在于提供以一种旋翼无人机协同控制系统用的半实物仿真系统，其特征在于，该半实物仿真系统包括控制系统安装平台1、旋翼无人机仿真平台2和视景显示屏3；Specifically, the object of the present invention is to provide a semi-physical simulation system used for a rotary-wing unmanned aerial vehicle cooperative control system, characterized in that the semi-physical simulation system comprises a control system installation platform 1 and a rotary-wing unmanned aerial vehicle simulation platform 2 and visual display 3;
所述控制系统安装平台1用于安装旋翼无人机协同控制系统，The control system installation platform 1 is used to install the cooperative control system of the rotor unmanned aerial vehicle,
所述旋翼无人机仿真平台2用于模拟任务执行过程；The rotor UAV simulation platform 2 is used to simulate the task execution process;
所述视景显示屏3用于实时显示旋翼无人机的运动轨迹。The visual display screen 3 is used to display the motion trajectory of the rotor UAV in real time.
其中，所述旋翼无人机协同控制系统根据接收到的任务指令、每个旋翼无人机当前状态信息和无人机探测到的信息解算出每一个旋翼无人机的制导指令，并分别传递给每个旋翼无人机，从而分别控制各个旋翼无人机工作。Wherein, the rotor UAV cooperative control system calculates the guidance instructions of each rotor UAV according to the received mission instructions, the current state information of each rotor UAV and the information detected by the UAV, and transmits them respectively. Give each rotor drone to control the work of each rotor drone separately.
其中，所述旋翼无人机仿真平台2中包括通讯仿真模块21和多个旋翼无人机模型22。The rotor UAV simulation platform 2 includes a
其中，所述旋翼无人机协同控制系统给出的旋翼无人机的制导指令通过控制系统安装平台1和通讯仿真模块21传递给旋翼无人机模型22。Wherein, the guidance instruction of the rotor drone given by the rotor drone cooperative control system is transmitted to the rotor drone model 22 through the control system installation platform 1 and the
其中，所述通讯仿真模块21还用于模拟通讯干扰。Wherein, the
其中，所述旋翼无人机模型22包括传感器模块221、飞行控制模块222、机身模块223和旋翼模块224，The rotor UAV model 22 includes a sensor module 221, a flight control module 222, a fuselage module 223 and a rotor module 224,
所述传感器模块221用于实时模拟并输出旋翼无人机的状态信息，所述旋翼无人机的状态信息包括旋翼无人机的速度信息和位置信息。The sensor module 221 is used to simulate and output the status information of the rotor UAV in real time, and the status information of the rotor drone includes speed information and position information of the rotor drone.
其中，所述传感器模块221还用于模拟输出旋翼无人机探测到的目标信息；Wherein, the sensor module 221 is also used to simulate and output target information detected by the rotor drone;
优选地，所述传感器模块221还用于模拟输出旋翼无人机探测到的障碍物位置信息。Preferably, the sensor module 221 is also used to simulate and output the position information of obstacles detected by the rotor drone.
其中，所述飞行控制模块222用于接收旋翼无人机制导指令，并根据该制导指令和该旋翼无人机当前的状态信息解算出对应的控制命令；Wherein, the flight control module 222 is used to receive the guidance command of the rotor drone, and calculate the corresponding control command according to the guidance command and the current state information of the rotor drone;
所述旋翼模块224根据飞行控制模块222传递出的控制命令模拟旋翼无人机运动，使得传感器模块221实时探测获知该旋翼无人机的状态信息。The rotor module 224 simulates the motion of the rotor drone according to the control command transmitted by the flight control module 222, so that the sensor module 221 detects and learns the status information of the rotor drone in real time.
其中，所述视景显示屏3上实时显示有多个旋翼无人机的运动轨迹；Wherein, the motion trajectories of a plurality of rotor drones are displayed in real time on the visual display screen 3;
优选地，视景显示屏3还能够实时显示目标的位置信息和障碍物的位置信息。Preferably, the visual display screen 3 can also display the position information of the target and the position information of the obstacle in real time.
本发明还提供一种旋翼无人机协同控制系统的半实物仿真方法，该方法包括如下步骤：The present invention also provides a semi-physical simulation method for the cooperative control system of the rotor UAV, the method comprising the following steps:
步骤1，通过地面站向待测定的旋翼无人机协同控制系统中输入任务指令，并将该待测定的旋翼无人机协同控制系统安装在控制系统安装平台1上；Step 1, input the task instruction to the rotor unmanned aerial vehicle cooperative control system to be measured through the ground station, and install the rotor unmanned aerial vehicle cooperative control system to be measured on the control system installation platform 1;
步骤2，通过旋翼无人机模型22上的传感器模块221输出其探测到的旋翼无人机的状态信息、目标信息和障碍物位置信息；Step 2, output the state information, target information and obstacle position information of the detected rotor drone through the sensor module 221 on the rotor drone model 22;
步骤3，通过旋翼无人机协同控制系统解算出具体的每一个旋翼无人机的制导指令，并分别传递给每个旋翼无人机模型；Step 3: Calculate the specific guidance instructions of each rotor UAV through the rotor UAV collaborative control system, and transmit them to each rotor UAV model respectively;
步骤4，通过飞行控制模块222解算控制命令，通过旋翼模块224根据控制命令模拟旋翼无人机的运动状态，由传感器模块221采集旋翼无人机的运动状态并将之传递给翼无人机协同控制系统；Step 4, the control command is calculated by the flight control module 222, the motion state of the rotor drone is simulated by the rotor module 224 according to the control command, and the motion state of the rotor drone is collected by the sensor module 221 and transmitted to the wing drone. collaborative control system;
步骤5，重复步骤2、步骤3和步骤4，并由视景显示屏3实时显示各个旋翼无人机模型的制导指令和运动状态；Step 5, repeat Step 2, Step 3 and Step 4, and display the guidance instructions and motion status of each rotor UAV model in real time by the visual display screen 3;
步骤6，实时观察视景显示屏3显示该运动轨迹，据此判断该待测定的旋翼无人机协同控制系统的优劣。Step 6, real-time observation of the motion track displayed on the visual display screen 3, based on which the pros and cons of the cooperative control system of the rotor UAV to be determined are judged.
本发明所具有的有益效果包括：The beneficial effects of the present invention include:
(1)根据本发明提供的旋翼无人机协同控制系统用的半实物仿真系统及方法，通过真实的协同控制计算机搭建的半实物仿真系统可以很大程度还原旋翼无人机协同完成任务的工作状态，保证协同控制算法的准确性；(1) According to the semi-physical simulation system and method for the cooperative control system of the rotary-wing unmanned aerial vehicle provided by the present invention, the semi-physical simulation system built by the real cooperative control computer can restore the work of the rotary-wing unmanned aerial vehicle to complete the task to a large extent. state to ensure the accuracy of the collaborative control algorithm;
(2)根据本发明提供的旋翼无人机协同控制系统用的半实物仿真系统及方法，在需要改变旋翼无人机尺寸、传感器型号或者执行机构时，可以直接在配置文档中进行修改，操作简单而且灵活性高；(2) According to the hardware-in-the-loop simulation system and method for the cooperative control system of the rotor drone provided by the present invention, when it is necessary to change the size of the rotor drone, the sensor model or the actuator, it can be directly modified in the configuration file, and the operation simple and flexible;
(3)根据本发明提供的旋翼无人机协同控制系统用的半实物仿真系统及方法，通过视景显示模块可以清楚明了地显示所需的数据、每架旋翼无人机的运行状态和协同任务的执行情况，结果可视化。(3) According to the hardware-in-the-loop simulation system and method for the cooperative control system of the rotor UAV provided by the present invention, the required data, the operation status and coordination of each rotor UAV can be clearly and clearly displayed through the visual display module. The execution of the task and the visualization of the results.
(4)根据本发明提供的旋翼无人机协同控制系统用的半实物仿真系统及方法，在真实的协同控制计算机运行的控制算法可在后续验证中直接用于实物实验，移植性好。(4) According to the hardware-in-the-loop simulation system and method for the cooperative control system of the rotor UAV provided by the present invention, the control algorithm run by the real cooperative control computer can be directly used in the physical experiment in the subsequent verification, and the portability is good.
附图说明Description of drawings
图1示出根据本发明一种优选实施方式的旋翼无人机协同控制系统用的半实物仿真系统整体逻辑图；Fig. 1 shows the overall logic diagram of the hardware-in-the-loop simulation system for the cooperative control system of the rotary-wing unmanned aerial vehicle according to a preferred embodiment of the present invention;
图2示出本发明实验例中任务开始时初始状态的视景显示屏界面示意图；Fig. 2 shows the interface schematic diagram of the visual display screen in the initial state when the task starts in the experimental example of the present invention;
图3示出本发明实验例中任务中期捕获到目标时的视景显示屏界面示意图；Fig. 3 shows the interface schematic diagram of the visual display screen when the target is captured in the middle of the task in the experimental example of the present invention;
图4示出本发明实验例中任务后期旋翼无人机跟踪目标时的视景显示屏界面示意图。FIG. 4 shows a schematic diagram of the visual display screen interface when the rotor UAV tracks the target in the later stage of the mission in the experimental example of the present invention.
附图标号说明：Description of reference numbers:
1-控制系统安装平台1-Control system installation platform
2-旋翼无人机仿真平台2-Rotor UAV Simulation Platform
21-通讯仿真模块21-Communication simulation module
22-旋翼无人机模型22-Rotor UAV Model
221-传感器模块221 - Sensor Module
222-飞行控制模块222 - Flight Control Module
223-机身模块223 - Airframe Module
224-旋翼模块224 - Rotor Module
23-目标虚拟模块23 - Target virtual module
24-障碍物虚拟模块24 - Obstacle Virtual Module
3-视景显示屏3-View Display
4-输入装置4-Input device
具体实施方式Detailed ways
下面通过附图和实施例对本发明进一步详细说明。通过这些说明，本发明的特点和优点将变得更为清楚明确。The present invention will be further described in detail below through the accompanying drawings and embodiments. The features and advantages of the present invention will become more apparent from these descriptions.
在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。尽管在附图中示出了实施例的各种方面，但是除非特别指出，不必按比例绘制附图。The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration." Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments. While various aspects of the embodiments are shown in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.
本发明中所述的旋翼无人机协同控制系统为针对多个旋翼无人机彼此协调，共同执行任务而设置的控制系统，该旋翼无人机协同控制系统包括控制程序和灌装有控制程序的一块或者多块芯，所述芯片安放在各个旋翼无人机和/或地面站上，芯片与旋翼无人机信号相连，从而能够获知各个旋翼无人机的状态信息和无人机探测到的信息；通过地面站向芯片及其中的控制程序输入任务指令；该旋翼无人机协同控制系统根据接收到的任务指令、每个旋翼无人机当前状态信息和无人机探测到的信息解算出具体的每一个旋翼无人机的制导指令，并分别传递给每个旋翼无人机，从而分别控制各个旋翼无人机工作。The rotor drone cooperative control system described in the present invention is a control system set up for a plurality of rotor drones to coordinate with each other and perform tasks together. The rotor drone collaborative control system includes a control program and a filling control program. One or more cores, the chips are placed on each rotor drone and/or ground station, and the chip is connected to the rotor drone signal, so that the status information of each rotor drone and the detection by the drone can be obtained. information; input mission instructions to the chip and the control program in it through the ground station; the rotor UAV cooperative control system solves the problem according to the received mission instructions, the current state information of each rotor UAV and the information detected by the UAV Calculate the specific guidance instructions of each rotor UAV, and transmit it to each rotor UAV respectively, so as to control the work of each rotor UAV separately.
根据本发明提供的旋翼无人机协同控制系统用的半实物仿真系统，如图1中所示，该系统包括控制系统安装平台1、旋翼无人机仿真平台2和视景显示屏3。According to the hardware-in-the-loop simulation system for the cooperative control system of the rotor UAV provided by the present invention, as shown in FIG.
所述控制系统安装平台1用于安装旋翼无人机协同控制系统，控制系统安装平台1即能够固定旋翼无人机协同控制系统，还能够与旋翼无人机协同控制系统信号相连，从而将旋翼无人机仿真平台2中生产的模拟信息传递给旋翼无人机协同控制系统，同时将旋翼无人机协同控制系统上生成的旋翼无人机制导指令传递到旋翼无人机仿真平台2中。具体来说，该模拟信息包括旋翼无人机的状态信息、目标信息、障碍物位置信息等信息。The control system installation platform 1 is used to install the rotor drone cooperative control system, and the control system installation platform 1 can fix the rotor drone collaborative control system, and can also connect with the rotor drone collaborative control system signal, so as to connect the rotor. The simulation information produced in the UAV simulation platform 2 is transmitted to the rotor UAV cooperative control system, and at the same time, the rotor UAV guidance instructions generated on the rotor UAV cooperative control system are transmitted to the rotor UAV simulation platform 2. Specifically, the simulated information includes the state information, target information, obstacle position information and other information of the rotor UAV.
优选地，所述控制系统安装平台1与旋翼无人机协同控制系统之间通过串口通讯连接。Preferably, the control system installation platform 1 and the cooperative control system of the rotor UAV are connected through serial communication.
优选地，所述控制系统安装平台1能够与多种型号的旋翼无人机协同控制系统快速插拔连接，从而提高半实物仿真系统的适应性和便捷性，能够快速对不同型号的装旋翼无人机协同控制系统进行优劣检测。Preferably, the control system installation platform 1 can be quickly plugged and connected with various types of rotor UAV cooperative control systems, so as to improve the adaptability and convenience of the hardware-in-the-loop simulation system, and can quickly adapt to different types of rotor-mounted drones. The human-machine collaborative control system is used to detect the pros and cons.
在一个优选的实施方式中，所述旋翼无人机仿真平台2用于模拟任务执行过程。具体来说，所述旋翼无人机仿真平台2包括通讯仿真模块21和多个旋翼无人机模型22；所述旋翼无人机协同控制系统给出的旋翼无人机的制导指令通过控制系统安装平台1和通讯仿真模块21传递给旋翼无人机模型22，相应地，旋翼无人机模型22输出的模拟信息经由通讯仿真模块21和控制系统安装平台1传递给旋翼无人机协同控制系统。In a preferred embodiment, the rotor UAV simulation platform 2 is used to simulate the task execution process. Specifically, the rotor drone simulation platform 2 includes a
所述通讯仿真模块21用于模拟通讯干扰，能够按照设定规律屏蔽或者删除部分信息，使得旋翼无人机模型22和旋翼无人机协同控制系统接收到的信息都是不连续的，更贴近真实的工作环境，从而能够更为准确地测定旋翼无人机协同控制系统的性能的优劣。The
优选地，所述通讯仿真模块21上屏蔽或删除信息的屏蔽/删除量是可调节的。更优选地，所述通讯仿真模块21可以按照时间段来屏蔽/删除经由其传输的信息，如正常传输信息1秒后，屏蔽/删除后续0.1秒内的信息，再正常传输信息1秒，再屏蔽/删除后续0.1秒内的信息，如此往复循环。所述通讯仿真模块21还可以按照信息个数来屏蔽/删除经由其传输的信息，如单方向传输3组信息后，屏蔽/删除第4组信息，再传输3组信息后，屏蔽/删除第8组信息，如此往复循环。可以根据所需模拟的工作环境设定屏蔽/删除信息的方式及数量。Preferably, the shielding/deleting amount of shielding or deleting information on the
在一个优选的实施方式中，所述旋翼无人机模型22包括传感器模块221、飞行控制模块222、机身模块223和旋翼模块224，In a preferred embodiment, the rotor UAV model 22 includes a sensor module 221, a flight control module 222, a fuselage module 223 and a rotor module 224,
其中，所述传感器模块221用于实时探测并输出旋翼无人机的状态信息，所述旋翼无人机的状态信息包括旋翼无人机的速度信息和位置信息。优选地，所述传感器模块221还用于模拟输出旋翼无人机探测到的目标信息，包括目标位置信息和目标速度信息。更优选地，所述传感器模块221还用于模拟输出旋翼无人机探测到的障碍物位置信息。具体来说，对于旋翼无人机自身的状态信息，在传感器模块221启动工作时就进行解算传输，其传输的精度及频率根据输入的待模拟的传感器型号确定；在仿真工作过程中，可以根据待模拟的无人机上安装的传感器型号来设定所述传感器模块221的探测精度、传输频率和探测距离等信息，从而使得模拟仿真结果与实际工作状况更为契合。所述探测距离决定了旋翼无人机的视野范围，在所述感器模块221的探测距离以内的区域即为所述旋翼无人机的视野范围。Wherein, the sensor module 221 is used to detect and output the status information of the rotor drone in real time, and the status information of the rotor drone includes speed information and position information of the rotor drone. Preferably, the sensor module 221 is also used to simulate and output target information detected by the rotorcraft, including target position information and target speed information. More preferably, the sensor module 221 is also used to simulate and output the position information of obstacles detected by the rotary-wing UAV. Specifically, for the state information of the rotor UAV itself, it is calculated and transmitted when the sensor module 221 starts to work, and the transmission accuracy and frequency are determined according to the input sensor model to be simulated; during the simulation work process, you can Information such as detection accuracy, transmission frequency, and detection distance of the sensor module 221 is set according to the sensor model installed on the UAV to be simulated, so that the simulation results are more consistent with the actual working conditions. The detection distance determines the field of view of the rotor drone, and the area within the detection distance of the sensor module 221 is the field of view of the rotor drone.
对于目标信息和障碍物信息，则根据所用传感器型号确定目标和障碍物是否被发现，在使用相机作为传感器时，不同型号的相机具有不同的最大测量距离和视场角等规格，当目标和障碍物落在最大测量距离并且在视场角之内时，则发现目标/障碍物，发现目标/障碍物后根据所用传感器的发送频率对外传输目标信息/障碍物信息。For target information and obstacle information, determine whether the target and obstacle are found according to the type of sensor used. When using a camera as a sensor, different models of cameras have different specifications such as the maximum measurement distance and field of view. When the target and obstacle are used When the object falls within the maximum measurement distance and is within the field of view, the target/obstacle is found, and the target/obstacle information is transmitted externally according to the sending frequency of the sensor used.
所述传感器模块221输出的信息都通过通讯仿真模块21传递给旋翼无人机协同控制系统。The information output by the sensor module 221 is transmitted to the cooperative control system of the rotor UAV through the
优选地，所述旋翼无人机协同控制系统在同一时刻能够生成多个制导指令，与之对应地，在所述旋翼无人机仿真平台2中包括多个所述旋翼无人机模型22，每个翼无人机模型22接收对应的制导指令，每个旋翼无人机模型22都根据其接收到的制导指令进行模拟工作。Preferably, the rotor UAV cooperative control system can generate a plurality of guidance commands at the same time, and correspondingly, the rotor UAV simulation platform 2 includes a plurality of the rotor UAV models 22, Each wing UAV model 22 receives a corresponding guidance instruction, and each rotor UAV model 22 performs simulation work according to the received guidance instruction.
所述飞行控制模块222用于接收旋翼无人机制导指令，控制无人机自身状态跟踪制导指令，即根据该制导指令和该旋翼无人机当前的状态信息解算出对应的控制命令。The flight control module 222 is used to receive the guidance command of the rotor UAV, and control the state of the drone to track the guidance command, that is, to calculate the corresponding control command according to the guidance command and the current state information of the rotor drone.
所述机身模块223用于存储旋翼无人机的三维机体模型，以便于根据旋翼无人机协同控制系统的指令需求调取出相应的旋翼无人机外形结构并传输给视景显示屏3。The fuselage module 223 is used to store the three-dimensional body model of the rotor UAV, so that the corresponding rotor drone shape structure can be retrieved and transmitted to the visual display screen 3 according to the instruction requirements of the rotor drone cooperative control system. .
所述旋翼模块224用于根据飞行控制模块222传递出的控制命令模拟旋翼无人机运动，并可以通过传感器模块221探测到该运动状态，从而使得传感器模块221实时探测获知该旋翼无人机的状态信息，其中，所述控制命令包括电机的旋转时间和旋转速度。The rotor module 224 is used to simulate the motion of the rotor drone according to the control command transmitted by the flight control module 222, and the motion state can be detected by the sensor module 221, so that the sensor module 221 can detect and know the rotor drone in real time. Status information, wherein the control command includes the rotation time and rotation speed of the motor.
优选地，所述机身模块223和旋翼模块224是一一对应的，不同型号的无人机模型不同，将控制命令分配到每个电机的方式也不同，不同电机的工作性能不同，对应的旋翼产生的力也是不同的。在所述机身模块223和旋翼模块224中存储有对应的控制命令分配方式，旋翼型号及其能够产生的力，可以根据待模拟的旋翼无人机型号进行选择设定。使得该半实物仿真系统能够根据设计的型号产生不同的控制模型，更灵活并且符合实际。Preferably, the fuselage module 223 and the rotor module 224 are in a one-to-one correspondence. Different models of UAVs have different models, and the way of assigning control commands to each motor is also different. The force generated by the rotor is also different. The fuselage module 223 and the rotor module 224 store corresponding control command distribution methods, and the rotor model and the force it can generate can be selected and set according to the model of the rotor UAV to be simulated. The hardware-in-the-loop simulation system can generate different control models according to the designed model, which is more flexible and practical.
所述传感器模块221实时探测无人机的位置信息，并将该探测到的位置信息传递给旋翼无人机协同控制系统，作为反馈信息。由于控制指令依次经过通讯仿真模块的传递，经过飞行控制模块的命令转换，再经由旋翼模块具体执行，最后由传感器模块探测得到无人机的运动轨迹，该运动轨迹与最初的制导指令相比肯定有所出入，此处可以通过比较期望的飞行指令(制导指令)和实际的飞行状态进行对比，来判断无人机是否执行指令。所述旋翼无人机协同控制系统在接收到传感器模块221传递回的无人机的位置信息后，能够实时调整控制指令，以便于控制旋翼无人机朝向期望的位置行进。The sensor module 221 detects the position information of the UAV in real time, and transmits the detected position information to the cooperative control system of the rotor UAV as feedback information. Since the control commands are transmitted through the communication simulation module in turn, converted by the flight control module, and then executed by the rotor module. Finally, the sensor module detects the movement trajectory of the UAV, which is definitely compared with the original guidance command. There are discrepancies. Here, it can be judged whether the UAV executes the command by comparing the expected flight command (guidance command) with the actual flight state. After receiving the position information of the UAV returned by the sensor module 221, the rotor UAV cooperative control system can adjust the control instructions in real time, so as to control the rotor UAV to travel toward the desired position.
所述旋翼无人机协同控制系统发出旋翼无人机制导指令的频率由通讯仿真模块21的传输频率决定，根据设置的通讯仿真模块21的频率来调整其自身频率，自身的状态和制导指令都可以通过视景显示出来，但是解算和视景没有关系The frequency at which the rotor drone cooperative control system sends out the rotor drone guidance command is determined by the transmission frequency of the
在一个优选的实施方式中，所述视景显示屏3用于实时显示旋翼无人机的运动轨迹。具体来说，所述视景显示屏3与传感器模块221相连，其用于实时显示传感器模块221探测到的无人机的状态信息、目标信息和碍物位置信息。，在显示目标信息和碍物位置信息都需要根据探测结果显示出目标和障碍物的轮廓；In a preferred embodiment, the visual display screen 3 is used to display the movement trajectory of the rotorcraft in real time. Specifically, the visual display screen 3 is connected to the sensor module 221 , and is used to display the status information, target information and obstacle position information of the UAV detected by the sensor module 221 in real time. , in the display of target information and obstacle position information, it is necessary to display the outline of the target and obstacle according to the detection result;
在显示无人机的状态信息时，所述视景显示屏3调取各个旋翼无人机仿真平台2的机身模块223中存储的三维机体模型，并将该三维基体模型和所述位置信息相结合，进而实时显示三维机体模型的位置及其变化趋势。优选地，在所述视景显示屏3中还可以将各个旋翼无人机仿真平台2中接收到的制导指令转换为具体的坐标位置，并实时显示。更优选地，将每个机身模块223对应的多个位置串联成实际的运动轨迹，将每个制导指令转换的坐标位置串联成期望的运动轨迹，用不同的颜色或者线型同时显示一个无人机对应的实际的运动轨迹和期望的运动轨迹，从而能够方便于分析具体每个旋翼无人机执行控制指令的效果。When displaying the status information of the drone, the visual display screen 3 retrieves the three-dimensional body model stored in the fuselage module 223 of each rotor drone simulation platform 2, and displays the three-dimensional base model and the position The information is combined to display the position and changing trend of the 3D body model in real time. Preferably, the guidance instructions received in each rotor UAV simulation platform 2 can also be converted into specific coordinate positions in the visual display screen 3 and displayed in real time. More preferably, a plurality of positions corresponding to each fuselage module 223 are connected in series to form an actual motion trajectory, the coordinate positions converted by each guidance command are connected in series to form a desired motion trajectory, and a different color or line type is used to simultaneously display an The actual movement trajectory and the expected movement trajectory corresponding to the man-machine can be easily analyzed for the effect of each rotor UAV executing the control instructions.
所述旋翼无人机协同控制系统同时通过多个旋翼无人机制导指令分别控制多个旋翼无人机，所以视景显示屏3上实时显示有多个旋翼无人机的运动轨迹。从而在视景显示屏3上实时显示协同任务的执行过程，以便于使用者通过观察协同任务的执行过程来判断旋翼无人机协同控制系统的优劣。The rotor UAV cooperative control system simultaneously controls multiple rotor UAVs through multiple rotor UAV guidance commands, so the visual display screen 3 displays the motion trajectories of the multiple rotor UAVs in real time. Therefore, the execution process of the cooperative task is displayed on the visual display screen 3 in real time, so that the user can judge the merits of the cooperative control system of the rotor UAV by observing the execution process of the cooperative task.
在一个优选的实施方式中，所述旋翼无人机仿真平台2和视景显示屏3之间通过UPD通信传递数据信息，能够实时接收大规模数据，并显示旋翼无人机当前的状态。In a preferred embodiment, data information is transmitted between the rotor drone simulation platform 2 and the visual display screen 3 through UPD communication, which can receive large-scale data in real time and display the current status of the rotor drone.
在一个优选的实施方式中，在所述视景显示屏3中存储有地面、地形信息，能够在显示旋翼无人机运动轨迹的同时显示该地面、地形信息。In a preferred embodiment, ground and terrain information is stored in the visual display screen 3, and the ground and terrain information can be displayed while displaying the motion trajectory of the rotor UAV.
在一个优选的实施方式中，所述视景显示屏3中存储有各个旋翼无人机的外形尺寸信息，还能够自动监测各个旋翼无人机在飞行过程中彼此之间的距离，当该距离小于旋翼无人机的外形尺寸时能够发出报错指令。In a preferred embodiment, the visual display screen 3 stores the shape and size information of each rotor drone, and can also automatically monitor the distance between each rotor drone during flight. When the distance It can issue an error command when it is smaller than the size of the rotor UAV.
在一个优选的实施方式中，所述旋翼无人机仿真平台2还包括目标虚拟模块23，所述目标虚拟模块用以根据模拟指令模拟目标的运动状态，并将目标的运动状态传输给旋翼无人机模型22的传感器模块221和视景显示屏3，从而使得传感器模块221能够捕获到目标信息，视景显示屏3也能够实时显示目标的运动状态信息，尤其是目标的位置信息。In a preferred embodiment, the rotor UAV simulation platform 2 further includes a target virtual module 23, and the target virtual module is used to simulate the motion state of the target according to the simulation instruction, and transmit the motion state of the target to the rotor drone. The sensor module 221 of the man-machine model 22 and the visual display screen 3 enable the sensor module 221 to capture target information, and the visual display screen 3 can also display the movement state information of the target in real time, especially the position information of the target.
在一个优选的实施方式中，所述旋翼无人机仿真平台2还包括障碍物虚拟模块24，所述障碍物虚拟模块24用以根据模拟指令模拟障碍物的位置信息，并将障碍物的位置信息传输给旋翼无人机模型22的传感器模块221和视景显示屏3，从而使得传感器模块221能够捕获到障碍物，视景显示屏3也能够实时显示障碍物的位置信息。In a preferred embodiment, the rotor UAV simulation platform 2 further includes an obstacle virtual module 24, and the obstacle virtual module 24 is used to simulate the position information of the obstacle according to the simulation instruction, and to calculate the position of the obstacle. The information is transmitted to the sensor module 221 of the rotor UAV model 22 and the visual display screen 3, so that the sensor module 221 can capture the obstacle, and the visual display screen 3 can also display the position information of the obstacle in real time.
优选地，所述旋翼无人机协同控制系统用的半实物仿真系统还包括输入装置4，其用以向旋翼无人机仿真平台2中输入所述模拟指令，还用以向通讯仿真模块21输入模拟的环境信息，从而确定信息蔽或/删除的方式及数量。Preferably, the hardware-in-the-loop simulation system for the cooperative control system of the rotor UAV further includes an input device 4, which is used to input the simulation command into the rotor drone simulation platform 2, and is also used to input the simulation command to the
优选地，所述输入装置还用于输入模拟的旋翼无人机的型号参数，包括传感器模块的型号、旋翼无人机的数量和各个旋翼无人机的型号；所述传感器模块的型号能够对应着传感器的探测距离和传输频率等信息，所述旋翼无人机的数量对应着设置旋翼无人机仿真平台的数量，所述各个旋翼无人机的型号对应着旋翼无人机的三维机体模型、旋翼无人机上电机的工作性能。Preferably, the input device is also used to input the model parameters of the simulated rotor drone, including the model of the sensor module, the number of rotor drones and the model of each rotor drone; the model of the sensor module can correspond to Depending on the detection distance and transmission frequency of the sensor, the number of the rotor drones corresponds to the number of rotor drone simulation platforms, and the model of each rotor drone corresponds to the three-dimensional body model of the rotor drone. , The working performance of the motor on the rotor UAV.
一种旋翼无人机协同控制系统的半实物仿真方法，该方法是通过上文所述的旋翼无人机协同控制系统用的半实物仿真系统实现的。具体来说，该方法包括如下步骤：A semi-physical simulation method of a rotary-wing unmanned aerial vehicle cooperative control system, which is realized by the semi-physical simulation system used for the rotary-wing unmanned aerial vehicle cooperative control system described above. Specifically, the method includes the following steps:
步骤1，通过地面站向待测定的旋翼无人机协同控制系统中输入任务指令，并将该待测定的旋翼无人机协同控制系统安装在控制系统安装平台1上；Step 1, input the task instruction to the rotor unmanned aerial vehicle cooperative control system to be measured through the ground station, and install the rotor unmanned aerial vehicle cooperative control system to be measured on the control system installation platform 1;
步骤2，通过旋翼无人机模型22上的传感器模块221输出其探测到的旋翼无人机的状态信息、目标信息和障碍物位置信息；Step 2, output the state information, target information and obstacle position information of the detected rotor drone through the sensor module 221 on the rotor drone model 22;
步骤3，通过旋翼无人机协同控制系统解算出具体的每一个旋翼无人机的制导指令，并分别传递给每个旋翼无人机模型22；In step 3, the specific guidance instructions of each rotor drone are calculated by the rotor drone cooperative control system, and are respectively transmitted to each rotor drone model 22;
步骤4，通过飞行控制模块222解算控制命令，通过旋翼模块224根据控制命令模拟旋翼无人机的运动状态，由传感器模块221采集旋翼无人机的运动状态并将之传递给翼无人机协同控制系统；Step 4, the control command is calculated by the flight control module 222, the motion state of the rotor drone is simulated by the rotor module 224 according to the control command, and the motion state of the rotor drone is collected by the sensor module 221 and transmitted to the wing drone. collaborative control system;
步骤5，重复步骤2、步骤3和步骤4，并由视景显示屏3实时显示各个旋翼无人机模型的制导指令和运动状态；Step 5, repeat Step 2, Step 3 and Step 4, and display the guidance instructions and motion status of each rotor UAV model in real time by the visual display screen 3;
步骤6，实时观察视景显示屏3显示该运动轨迹，据此判断该待测定的旋翼无人机协同控制系统的优劣。Step 6, real-time observation of the motion track displayed on the visual display screen 3, based on which the pros and cons of the cooperative control system of the rotor UAV to be determined are judged.
优选地，在步骤1和步骤2之间还执行步骤1’，Preferably, step 1' is also performed between step 1 and step 2,
步骤1’：通过输入装置4输入模拟指令、环境信息和旋翼无人机的型号参数。Step 1': Input simulation commands, environmental information and model parameters of the rotor UAV through the input device 4.
实验例：Experimental example:
将旋翼无人机协同控制系统安装在控制系统安装平台上，并确保旋翼无人机协同控制系统与控制系统安装平台之间信号连通，该旋翼无人机协同控制系统上的任务指令为：利用3架旋翼无人机对空中目标进行协同搜索和跟踪，具体来说，控制3架旋翼无人机同时搜索目标，搜索过程中3架旋翼无人机需要躲避空中存在的障碍物，搜索到目标后，3架无人机中的1架对其进行跟踪，即该旋翼无人机与目标之间维持较小的距离，另外两架旋翼无人机悬停并对准目标方向，与目标之间维持较大的距离。Install the rotor drone cooperative control system on the control system installation platform, and ensure the signal connection between the rotor drone collaborative control system and the control system installation platform. The task instruction on the rotor drone collaborative control system is: use The three rotor drones conduct collaborative search and tracking of air targets. Specifically, three rotor drones are controlled to search for the target at the same time. During the search process, the three rotor drones need to avoid obstacles in the air and search for the target. After that, one of the three drones tracks it, that is, the rotor drone maintains a small distance from the target, and the other two rotor drones hover and aim at the target direction, which is close to the target. maintain a large distance between them.
利用旋翼无人机协同控制系统用的半实物仿真系统进行仿真实验，旋翼无人机协同控制系统控制旋翼无人机的工作过程通过视景显示屏3实时显示，截取视景显示屏3中三个阶段的图像如图2、图3和图4中所示，其中，视景显示屏3中用五角星表示目标，目标其在空中绕“8”字飞行，其轨迹如图中的细实线所示；3架旋翼无人机的飞行轨迹如图中粗实线所示；障碍物为气球，在图中用圆形表示，每个旋翼无人机的视野范围用灰度区域表示。The semi-physical simulation system used in the cooperative control system of the rotary-wing UAV is used to conduct the simulation experiment. The images of each stage are shown in Fig. 2, Fig. 3 and Fig. 4, in which, the target is represented by a five-pointed star in the visual display screen 3. The target is flying around the "8" in the air, and its trajectory is as detailed in the figure. The flight trajectories of the three rotor UAVs are shown as thick solid lines in the figure; the obstacle is a balloon, which is represented by a circle in the figure, and the field of view of each rotor drone is represented by a gray area.
图2中示出了三个旋翼无人机从出发点搜寻目标，且都尚未捕获到目标，图2中可见三个旋翼无人机的视野范围内都没有发现目标；Figure 2 shows that the three rotor UAVs search for targets from the starting point, and none of them have captured the target. In Figure 2, it can be seen that the three rotor drones have not found the target within the field of view;
图3中示出了其中一个旋翼无人机捕获到了目标，图3中可见目标进入到其中一个旋翼无人机的视野范围之内；Figure 3 shows that one of the rotor drones has captured the target, and the visible target in Figure 3 enters the field of view of one of the rotor drones;
图4中示出捕获到目标的旋翼无人机近距离跟踪目标，另外两个旋翼无人机远距离悬停并对准目标方向。Figure 4 shows that the rotor drone that has captured the target tracks the target at close range, and the other two rotor drones hover at a long distance and aim at the target direction.
在旋翼无人机飞行过程中，彼此未发生碰撞，也未与障碍物发生碰撞，并且最终完成了预定任务，可以认为该旋翼无人机协同控制系统性能优良。During the flight of the rotary-wing drones, they did not collide with each other or with obstacles, and finally completed the predetermined task. It can be considered that the cooperative control system of the rotary-wing drones has excellent performance.
以上结合了优选的实施方式对本发明进行了说明，不过这些实施方式仅是范例性的，仅起到说明性的作用。在此基础上，可以对本发明进行多种替换和改进，这些均落入本发明的保护范围内。The present invention has been described above with reference to the preferred embodiments, but these embodiments are only exemplary and serve only for illustrative purposes. On this basis, various substitutions and improvements can be made to the present invention, which all fall within the protection scope of the present invention.
Claims (10)
Translated fromChinesePriority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010574340.0ACN111736487B (en) | 2020-06-22 | 2020-06-22 | A hardware-in-the-loop simulation system and method for a rotary-wing unmanned aerial vehicle cooperative control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010574340.0ACN111736487B (en) | 2020-06-22 | 2020-06-22 | A hardware-in-the-loop simulation system and method for a rotary-wing unmanned aerial vehicle cooperative control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111736487Atrue CN111736487A (en) | 2020-10-02 |
| CN111736487B CN111736487B (en) | 2022-02-18 |
Family
ID=72650417
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010574340.0AActiveCN111736487B (en) | 2020-06-22 | 2020-06-22 | A hardware-in-the-loop simulation system and method for a rotary-wing unmanned aerial vehicle cooperative control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111736487B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230568A (en)* | 2020-11-06 | 2021-01-15 | 北京航空航天大学 | A UAV simulation system, simulation method and UAV |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160021344A1 (en)* | 2014-04-10 | 2016-01-21 | Smartvue Corporation | Systems and Methods for Automated Cloud-Based Analytics for Surveillance Systems with Unmanned Aerial Devices |
| CN106444423A (en)* | 2016-09-30 | 2017-02-22 | 天津大学 | Indoor multi unmanned aerial vehicle formation flight simulation verification platform and achieving method thereof |
| CN107085385A (en)* | 2017-06-20 | 2017-08-22 | 中仿智能科技（上海）股份有限公司 | A kind of analogue system and method for simulating multi-aircraft autonomous flight |
| CN107422748A (en)* | 2017-06-29 | 2017-12-01 | 南京航空航天大学 | A kind of fixed-wing unmanned plane formation guidance device and collaboration homing guidance method |
| CN107589752A (en)* | 2017-07-25 | 2018-01-16 | 天津大学 | Unmanned plane cooperates with formation realization method and system with ground robot |
| US20180102058A1 (en)* | 2015-06-12 | 2018-04-12 | Fei Cao | High-precision autonomous obstacle-avoidance flying method for unmanned aerial vehicle |
| CN108646589A (en)* | 2018-07-11 | 2018-10-12 | 北京晶品镜像科技有限公司 | A kind of battle simulation training system and method for the formation of attack unmanned plane |
| CN108919673A (en)* | 2018-07-27 | 2018-11-30 | 北京理工大学 | A kind of double semi-matter simulating systems and emulation mode for playing concerted attack Bi-objective |
| CN110091993A (en)* | 2019-04-28 | 2019-08-06 | 贵州省农业科技信息研究所（贵州省农业科技信息中心） | A kind of pesticide application control system of unmanned plane |
| CN110865555A (en)* | 2019-12-02 | 2020-03-06 | 北京仿真中心 | Simulation test system and test method |
- 2020
- 2020-06-22CNCN202010574340.0Apatent/CN111736487B/enactiveActive
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160021344A1 (en)* | 2014-04-10 | 2016-01-21 | Smartvue Corporation | Systems and Methods for Automated Cloud-Based Analytics for Surveillance Systems with Unmanned Aerial Devices |
| US20180102058A1 (en)* | 2015-06-12 | 2018-04-12 | Fei Cao | High-precision autonomous obstacle-avoidance flying method for unmanned aerial vehicle |
| CN106444423A (en)* | 2016-09-30 | 2017-02-22 | 天津大学 | Indoor multi unmanned aerial vehicle formation flight simulation verification platform and achieving method thereof |
| CN107085385A (en)* | 2017-06-20 | 2017-08-22 | 中仿智能科技（上海）股份有限公司 | A kind of analogue system and method for simulating multi-aircraft autonomous flight |
| CN107422748A (en)* | 2017-06-29 | 2017-12-01 | 南京航空航天大学 | A kind of fixed-wing unmanned plane formation guidance device and collaboration homing guidance method |
| CN107589752A (en)* | 2017-07-25 | 2018-01-16 | 天津大学 | Unmanned plane cooperates with formation realization method and system with ground robot |
| CN108646589A (en)* | 2018-07-11 | 2018-10-12 | 北京晶品镜像科技有限公司 | A kind of battle simulation training system and method for the formation of attack unmanned plane |
| CN108919673A (en)* | 2018-07-27 | 2018-11-30 | 北京理工大学 | A kind of double semi-matter simulating systems and emulation mode for playing concerted attack Bi-objective |
| CN110091993A (en)* | 2019-04-28 | 2019-08-06 | 贵州省农业科技信息研究所（贵州省农业科技信息中心） | A kind of pesticide application control system of unmanned plane |
| CN110865555A (en)* | 2019-12-02 | 2020-03-06 | 北京仿真中心 | Simulation test system and test method |
Non-Patent Citations (7)
| Title |
|---|
| FLAVIA.CAUSA,等: "Multi-UAV formation geometries for cooperative navigation in GNSS-challenging environments", 《2018 IEEE/ION POSITION, LOCATION AND NAVIGATION SYMPOSIUM (PLANS)》* |
| VALENTIM ERNANDES NETO,等: "Trajectory-tracking of a Heterogeneous Formation Using Null Space-Based Control", 《2019 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS (ICUAS)》* |
| 张坤: "不确定条件下无人机三维航迹跟踪控制研究", 《中国博士学位论文全文数据库工程科技II辑》* |
| 李冲: "多UCAV协同作战航路规划研究", 《中国博士学位论文全文数据库 工程科技II辑》* |
| 王婷婷,等: "基于无人直升机的任务推演视景仿真研究", 《计算机仿真》* |
| 许江阴,等: "四旋翼无人机可视化轨迹跟踪仿真系统", 《计算机测量与控制》* |
| 黄坤: "无人机编队跟踪地面目标制导方法研究", 《中国优秀硕士学位论文全文数据库 工程科技II辑》* |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112230568A (en)* | 2020-11-06 | 2021-01-15 | 北京航空航天大学 | A UAV simulation system, simulation method and UAV |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111736487B (en) | 2022-02-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114063474B (en) | A Simulation Method of Semi-Physical Simulation System Based on UAV Swarm | |
| CN111596684B (en) | Fixed-wing unmanned aerial vehicle dense formation and anti-collision obstacle avoidance semi-physical simulation system and method | |
| CN114488848B (en) | Unmanned aerial vehicle autonomous flight system and simulation experiment platform for indoor building space | |
| How et al. | Real-time indoor autonomous vehicle test environment | |
| CN106716272B (en) | System and method for flight simulation | |
| Pizetta et al. | A hardware-in-the-loop platform for rotary-wing unmanned aerial vehicles | |
| CN108496121A (en) | Unmanned plane simulated flight system, method, equipment and machine readable storage medium | |
| CN111123984A (en) | Unmanned aerial vehicle path planning method based on position and speed artificial potential field method | |
| CN113467275A (en) | Unmanned aerial vehicle cluster flight simulation system based on real object airborne equipment | |
| CN106774365A (en) | A kind of unmanned plane debugging system based on external view positioning | |
| CN110187695A (en) | A UAV collaborative control verification platform | |
| Odelga et al. | A setup for multi-uav hardware-in-the-loop simulations | |
| Sonkar et al. | Low-cost smart surveillance and reconnaissance using VTOL fixed wing UAV | |
| CN113009935A (en) | Unmanned aerial vehicle simulation test system and method and unmanned aerial vehicle flight controller | |
| CN111212787A (en) | Flight simulation system and method and flight simulation equipment | |
| Lin et al. | Development of an unmanned coaxial rotorcraft for the DARPA UAVForge challenge | |
| Sanchez-Lopez et al. | A vision based aerial robot solution for the mission 7 of the international aerial robotics competition | |
| CN119087830A (en) | A UAV flight simulation method and system based on virtual reality environment | |
| Ceppi | Model-based Design of a Line-tracking Algorithm for a Low-cost Mini Drone through Vision-based Control | |
| CN111959819B (en) | Multi-rotor unmanned aerial vehicle algorithm verification and parameter adjustment system and use method thereof | |
| CN115755829B (en) | Method and device for verifying the security of intelligent control system | |
| Mancini et al. | A framework for simulation and testing of uavs in cooperative scenarios | |
| Cole et al. | Mapping and tracking | |
| CN111736487A (en) | A hardware-in-the-loop simulation system and method for a rotary-wing unmanned aerial vehicle cooperative control system | |
| CN118584828B (en) | Ground Demonstration and Verification System for Fault-Tolerant Cooperative Control of Cluster UAVs |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information | Inventor after:Lin Defu Inventor after:Guo Kaiyang Inventor after:Zheng Duo Inventor after:Tang Pan Inventor after:Wang Jiang Inventor after:Li Bin Inventor after:Fan Shipeng Inventor after:Song Tao Inventor after:He Shaomi Inventor before:Zheng Duo Inventor before:Tang Pan Inventor before:Lin Defu Inventor before:Wang Jiang Inventor before:Li Bin Inventor before:Fan Shipeng Inventor before:Song Tao Inventor before:He Shaomi | |
| GR01 | Patent grant | ||
| GR01 | Patent grant |