Unmanned Platform Visual Simulation System Based On Unity And RO

In recent years,the air to ground unmanned platform represented by unmanned ground vehicle(UGV)and unmanned aerial vehicle(UAV)is widely used.The navigation algorithm test directly in the actual environment has a long cycle and high cost.The air to ground unmanned platform simulation system provides a fast verification way.Therefore,this paper designs and develops an unmanned platform visual simulation system based on unity and ROS,including three main parts: human-computer interaction software based on Qt 5,control software of air to ground unmanned platform based on ROS architecture and visual simulation software based on unity.This paper mainly completes the following work:First of all,the research status of simulation system at home and abroad and the mainstream visual development engine are investigated,the functional and performance requirements of air to ground unmanned platform simulation system are analyzed,and the overall scheme design of unmanned platform simulation system is completed.Then,facing the requirements of operation management of unmanned platform simulation system,this paper designs and develops human-computer interaction software based on QT 5,including interface module and network communication module.The interface module can set the relevant parameters of the simulation system and display the real-time position of the unmanned platform;The network communication module realizes the data communication between the human-computer interaction software and unity end and ROS end through UDP communication protocol.The unmanned platform control software based on ROS architecture is designed and developed,including unmanned platform model building,motion control design,sensor data generation and Unity-ROS interface module in ROS environment.According to the actual parameters of UGV and UAV,the xarco description form of ROS is used to establish its model in ROS environment,and the motion control of UGV and UAV is realized through typical motion control algorithms;According to the working principles of IMU,GPS and radio sensors,their parameters are set respectively to realize the simulation of sensor data during the movement of unmanned platform;Socket communication is used to realize the data interaction between unity and ROS software.The visual simulation software based on unity is designed and developed,including unmanned platform model construction,scene simulation and image data generation in unity environment.3DS MAX software is used to make UGV and UAV models in obj file format in unity;The factory scene is built,and the weather conditions of sunny day,rainy day and mist,as well as the environment simulation under the lighting conditions of day,evening and night are realized;According to the working principle of binocular camera sensor,the parameters such as focal length,resolution and field angle are set to obtain the RGB image and depth image in unity scene in real time.Finally,the function and performance of the above unmanned platform simulation system are tested,and the navigation algorithm is verified by taking vins-fusion as an example.The test results show that the simulation system meets the design needs,meets the performance indicators,and can support the verification of navigation algorithms related to unmanned clusters.