Research On UAV Simulation Based On Rapid Prototyping

Unmanned Aerial Vehicle(UAV) simuliation system is the major platform of the UAV flight simulation test. But while the rapid developing Unmanned Aircraft System(UAS) makes increasingly rigorous request about the the functionality and performance of the UAV simulation system, it also makes more strict request about the cost and development cycle of the UAV simulation system. It’s hardly for the traditonal research and development methods to fulfill these requirements equally.But with Rapid Prototyping(RP), the development process of the UAV simulation system can be accelerated whih the complexity be reduced.At first, this paper will construct the object simulation system model, which includes the UAV’s mathematical model, the wind disturbance model, and the fault model of the onboard sensors and actuators.The simulation software’s architecture will be constructed to lay the foundation of the next work at the same time.Then, the application of Rapid Prototyping in the UAV simulation system development field will be studied. Methods to construct rapid prototyping model will be introduced. Serveral test examples are showed to study the sample rates mode and tasks mode of the rapid prototyping model. The mechanism of the Code Generation and the structure of the generated code are studied, and a Software-In-the-Loop(SIL) simulation is performed to verify the generated code.After that, for the purpose to ensure the real-time performance and reliability, at he same time to reduce the complexity and the development cycle of the UAV simulation system, mechanisms and strategies of task scheduling and resource access strategies are studied from the respective of the multi-task real-time system.Finally, a Hardware-In-the-Loop(HIL) simulation platform is build, and a closeloop flight simulation test is performed to implement the validation and verification process towards the UAV simulation system. The results indicate that, with the contribution of the Rapid Prototyping, the real-time performance and reliability of the UAV simulation system can be ensured with the system’s complexity and development cycle be reduced significantly.