| Quadcopter drones have witnessed considerable market demand over the past few years due to their wide variety of applications and affordable cost.People use quadrotor drones for a variety of tasks,such as cinematography,agriculture,traffic monitoring,and disaster response.Before deploying these tasks,virtual simulation software can be used to test their functions and verify some flight control algorithms in virtual scenes,so that the completion of tasks is more efficient and has high safety performance.In this paper,the rigid body model of the quadrotor UAV is taken as the research object,combined with virtual simulation related technologies,the modeling of the UAV static model,the construction and optimization of the UAV flight virtual scene,the simplification of the UAV dynamic model,and the In-depth research has been carried out on the realization of human-machine six-degree-of-freedom flight and the trajectory tracking optimization of UAVs.The main research content and results of this paper are as follows:(1)The basic structure and flight principle of the quadrotor UAV are analyzed,and the control input of the dynamic model of the UAV is simplified.Combined with the Newton-Euler formula,a simplified UAV motion model is established.Choose Unreal Engine(Unreal Engine4)as the development platform,based on the "blueprint" development mode,realize a flight system that controls the UAV to do six-degree-of-freedom movement with a keyboard,which improves the development efficiency,and can get better visual effects and interactive operation experience.(2)Obtain a high-resolution height map through Open Topography to generate a digital terrain model(DTM).In the Unreal Engine4 software,a 3D virtual scene with a strong sense of reality is generated by using mixed texture technology and procedural vegetation technology.At the same time,for the problem of texture mutation and aliasing,combined with smooth step function Smooth Step()and TAA(Temporal Anti-Aliasing)anti-aliasing algorithm,it can ensure the smoothness and authenticity of large-scale 3D virtual scene loading.(3)Aiming at the problem that the accuracy of the trajectory tracking controller of the traditional quadrotor UAV is not high enough,the simulation results or the verification process are not accurate enough,based on the Air Sim simulation platform,through the simulation and analysis of the quadrotor UAV tracking the circular expected trajectory,A trajectory tracking optimization strategy based on genetic algorithm,linear quadratic regulator(LQR)and acceleration compensation is proposed,which is of great significance for promoting the research of key technologies such as the flight control algorithm of quadrotor UAV.In summary,this paper combines virtual simulation related technologies to carry out motion simulation and scene modeling for quadrotor UAV,which improves the development efficiency and improves the visual effect and interactive experience.Meanwhile,through experimental analysis and comparison,it can be concluded that the improved trajectory tracking optimization strategy in this paper has higher accuracy in trajectory tracking simulation research.This paper is of great significance to the research of related technologies of quadrotor UAV. |
