Unmanned aerial vehicle semi-physical simulation verification exhibition system based on virtual-real combination

Abstract

The invention provides an unmanned aerial vehicle semi-physical simulation verification exhibition system based on virtual-real combination, and the system comprises a flight control computer which is used for receiving a task instruction sent by a ground command and control computer and flight path planning information sent by an airborne intelligent decision load, and completing the flight control of an unmanned aerial vehicle; the airborne SAR radar simulator is used for receiving the flight path planning information and the control instruction sent by the intelligent decision load and sending detection data and state parameters to the decision load; receiving the attitude and longitude and latitude height information of the unmanned aerial vehicle sent by the flight control computer, and carrying out the calculation of the radar track and radar attitude information; the airborne intelligent decision load is used for receiving detection data sent by the airborne SAR radar simulator, completing situation fusion and trajectory planning, generating an unmanned aerial vehicle detection control instruction and path planning information, and transmitting the unmanned aerial vehicle detection control instruction and the path planning information to the flight control computer and the airborne SAR radar simulator; and the ground command and control computer is used for displaying the two-dimensional situations of all the unmanned aerial vehicles and controlling the formation movement of all the unmanned aerial vehicles.

Description

Technical Field

[0001] The present invention belongs to the technical field of semi-physical simulation, and in particular relates to a semi-physical simulation verification and demonstration system for an unmanned aerial vehicle based on a combination of virtual and real. Background Art

[0002] Semi-physical simulation is a simulation technology that combines actual physical devices and computer simulation models. It combines physical test devices with computer simulation models to achieve a more realistic and accurate simulation experience. In this semi-physical simulation, it is first necessary to establish a complete computer simulation model that can accurately model and simulate the behavior of the system or device. Then, by connecting the actual physical device with the computer simulation model and transmitting data in real time during the simulation process, the simulation model can perform corresponding simulation and feedback according to the state of the actual physical device. The advantage of this semi-physical simulation technology is that it can take into account the physical characteristics of the actual device and the flexibility of the computer simulation model. By combining physical devices with simulation models, the behavior of the actual system can be simulated more accurately, and real-time interaction and adjustment can be performed. At the same time, it can also provide better solutions in terms of safety, cost and efficiency.

[0003] Semi-physical simulation technology has a wide range of applications in many fields. For example, in the field of aerospace, semi-physical simulation technology can be used to test and evaluate the flight performance of aircraft. In the automotive industry, semi-physical simulation can be used to simulate the operation and collision of automobiles to evaluate the safety performance of vehicles. In addition, in the industrial production process, semi-physical simulation technology can also be used to optimize the layout and operation of production lines. In general, semi-physical simulation technology, which integrates physical test devices and computer simulation models, can provide a more realistic and accurate simulation experience and has a wide range of application value in many fields. Its emergence enables simulation technology to be better combined with actual equipment, providing a powerful tool for system design, optimization and evaluation.

[0004] When semi-physical simulation tests verify the correctness of the intelligent decision-making payload function and the matching of software and hardware in the test process, the construction of the components in the simulation system, such as the construction of the SAR radar simulation simulator and the information interaction between the components, face multiple technical challenges. First, it is necessary to build high-precision mathematical models and physical models to simulate the working environment of the radar on the drone. At the same time, it is necessary to meet the real-time requirements of semi-physical simulation to ensure that a large amount of data can be processed in a very short time and produce realistic radar response signals. Secondly, the integrated debugging of the system is also a major difficulty. It is necessary to ensure the coordinated work between the SAR radar simulation simulator and the flight control system, as well as to simulate the performance changes of the radar under complex environmental conditions. Summary of the invention

[0005] In order to overcome the shortcomings of the prior art, the inventors have conducted intensive research and provided a semi-physical simulation verification and demonstration system for UAVs based on the combination of virtual and real, which verifies the correctness of the intelligent decision-making payload function and the matching of software and hardware in the test process, and ensures the safety of the UAV during actual flight.

[0006] The technical solution provided by the present invention is as follows:

[0007] A semi-physical simulation verification and demonstration system for unmanned aerial vehicles based on a combination of virtual and real, including at least one flight control computer, an airborne intelligent decision-making payload, an airborne SAR radar simulation simulator and a ground command and control system;

[0008] At least one flight control computer, used to receive mission instructions sent by the ground command and control computer and track planning information sent by the onboard intelligent decision-making payload, and implement flight control and route guidance of the UAV formation;

[0009] The airborne SAR radar simulator is used to receive the UAV attitude and latitude and longitude information sent by the flight control computer, and implement the calculation of radar trajectory and radar attitude information; receive the track planning information and control instructions sent by the airborne intelligent decision-making payload, and send the detection data under the corresponding radar trajectory and attitude and the state parameters of the airborne SAR radar simulator to the airborne intelligent decision-making payload;

[0010] The airborne intelligent decision-making payload is used to receive the detection data sent by the airborne SAR radar simulator, complete situation fusion and trajectory planning, generate UAV detection control instructions and path planning information, and transmit them to the flight control computer and the airborne SAR radar simulator;

[0011] The ground command and control computer is equipped with a ground command system and an intelligent payload situation analysis system. The intelligent payload situation analysis system is used to display the two-dimensional situation of all UAVs. The ground command system is used to perform route binding and mission execution management for all UAVs, control the formation movement of all UAVs, save, replay and analyze the telemetry data of all UAVs, synchronize the data with other ground systems, and send the data or commands of other ground systems to the flight control computer.

[0012] The semi-physical simulation verification and demonstration system of a UAV based on the combination of virtual and real provided by the present invention has the following beneficial effects:

[0013] (1) In order to meet the test and verification requirements of intelligent decision-making payloads in the aerospace field, a demonstration platform combining software and hardware is designed to verify the correctness of the intelligent decision-making payload function and the matching of the intelligent decision-making payload with the UAV system, ground command system and intelligent payload situation analysis system through semi-physical simulation tests. This demonstration platform is based on the semi-physical simulation method. By designing and implementing the intelligent payload situation analysis system, the readability and interpretability of the data in the semi-physical simulation are improved. A new airborne SAR radar semi-physical simulator is designed to ensure the equivalence of the semi-physical simulation of the UAV with the actual flight state and process, thereby verifying the correctness of the intelligent decision-making payload function and the matching of software and hardware in the test process, and playing a role in ensuring the safety of the UAV during actual flight.

[0014] (2) The airborne SAR radar simulator is equipped with an IMU and GPS module, a servo command solution module, a servo control module, an antenna simulation module, a data output processing module, and a file reading module; the radar IMU and GPS model is used to simulate the radar's own inertial group and GPS unit, and outputs the radar self-solved trajectory and radar attitude information with deviations according to the UAV attitude and latitude and longitude information sent by the flight control computer; the servo command solution module is used to output the radar servo mechanism that is compatible with the radar working mode according to the instructions sent by the intelligent decision-making payload and the output information of the radar IMU and GPS model. The servo control module is used to calculate the actual servo swing output according to the input of the servo instruction solving module; the antenna simulator is used to determine the projection coverage of the beam on the ground and the distance from the center of the beam to its detection point according to the beam angle setting value, combined with the radar position and servo azimuth information; and combined with the target information read by the file reading module, the latitude and longitude information of the target that can be detected by the beam is output; the airborne SAR radar simulation simulator design can obtain the radar trajectory and radar attitude information corresponding to the UAV attitude and longitude and latitude information, and then obtain the corresponding detection information, thereby improving the accuracy of the simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is the structural diagram of the UAV semi-physical simulation verification and demonstration system based on the combination of virtual and real;

[0016] Figure 2 This is a schematic diagram of the connection between the airborne SAR radar simulator and other airborne equipment;

[0017] Figure 3 A schematic diagram of loading software into the flight control computer and the ground command and control computer;

[0018] Figure 4 This is the block diagram of the airborne SAR radar simulator;

[0019] Figure 5This is a simulation flow chart of the UAV semi-physical simulation verification and demonstration system based on the combination of virtual and real. DETAILED DESCRIPTION

[0020] The following detailed description of the present invention will make the features and advantages of the present invention more clear and explicit.

[0021] The word “exemplary” is used exclusively herein to mean “serving as an example, example, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments.

[0022] The present invention provides a semi-physical simulation verification and demonstration system for unmanned aerial vehicles based on the combination of virtual and real, such as Figure 1 and Figure 2 As shown, it includes at least one flight control computer, an airborne intelligent decision-making payload, an airborne SAR radar simulator, a ground command and control system, a collaborative controller, a payload power supply unit and a data link;

[0023] At least one flight control computer, used to receive mission instructions sent by the ground command and control computer and track planning information sent by the onboard intelligent decision-making payload, and complete the flight control and route guidance of the UAV formation using the loaded UAV model, attitude controller, position controller, guidance controller and formation control algorithm;

[0024] The airborne SAR radar simulator is used to receive the track planning information and control instructions sent by the airborne intelligent decision-making payload, and send detection data and the status parameters of the airborne SAR radar simulator to the airborne intelligent decision-making payload; in the single pulse detection mode, the detection data is mainly the number of targets detected by the single pulse and the target latitude and longitude information; in the imaging recognition mode, the detection data is mainly the cropped radar image data and image information data; receive the UAV attitude and latitude and longitude information sent by the flight control computer, and implement the calculation of radar trajectory and radar attitude information;

[0025] The airborne intelligent decision-making payload is used to receive the detection data sent by the airborne SAR radar simulator, complete the situation fusion, trajectory planning and other functions, generate control instructions such as UAV detection, path planning information, and transmit them to the flight control computer and the airborne SAR radar simulator;

[0026] The ground command computer is equipped with a ground command system and an intelligent payload situation analysis system. The intelligent payload situation analysis system is used to display the two-dimensional situation of all UAVs, including information such as position, speed, attitude, and mission status. The ground command system is used to perform route binding and mission execution management for all UAVs, including upload limit, start, return, hovering, etc. It controls the formation movement of all UAVs, including assembly, departure, one-key formation, formation change, etc. It saves, replays and analyzes the telemetry data of all UAVs, synchronizes the data with other ground systems, and sends the data or commands of other ground systems to the flight control computer.

[0027] The air-to-ground data link has the ability to stably transmit flight status information, SAR images and other data, and transmits data between the flight control computer and the ground command and control computer; the inter-machine data link needs to be able to transmit SAR detection images, main control instructions, flight status information, etc., and transmit data between each flight control computer. As a component of the air-to-ground data link, the airborne image transmission module is used to connect to the Ethernet of the airborne intelligent decision-making payload and transmit the detection data of the airborne SAR radar simulator to the ground command and control computer.

[0028] The collaborative controller is used to implement information forwarding and scheduling between the flight control computer, the airborne image transmission module and the airborne intelligent decision-making payload.

[0029] The payload power supply unit (power supply) is used to power the flight control computer, airborne intelligent decision-making payload, airborne SAR radar simulation simulator, airborne image transmission module and collaborative controller.

[0030] In the present invention, Figure 3 As shown, for the semi-physical UAV simulation system loaded in the flight control computer, there are aircraft models, attitude controllers, position controllers and multi-machine collaborative controllers;

[0031] Aircraft models, including UAV dynamics model, kinematics model, gas model, etc., are used to simulate the flight state of real UAVs;

[0032] The attitude controller is used to control the three channels of roll, pitch and yaw of the drone to ensure that the drone reaches the expected attitude angle;

[0033] Position controller, used to control the UAV’s horizontal, vertical and height channels to ensure that the UAV reaches the desired position;

[0034] A guidance controller, which is used to guide the flight path of the aircraft based on the trajectory planning information sent by the onboard intelligent decision-making payload;

[0035] The multi-machine collaborative controller runs the formation control algorithm for lateral and longitudinal formation control of the UAVs to ensure that the UAVs reach the expected relative positions.

[0036] In the present invention, the ground command system loaded in the ground command computer comprises a track planning module, a command control module, a status monitoring and display module and a parameter loading module; wherein,

[0037] The trajectory planning module is used for general route planning, coordinated strike route planning, reconnaissance route planning, regional obstacle avoidance route planning, etc., and plans different routes based on different mission scenarios.

[0038] The command control module is used to issue control commands such as starting a mission, returning home, hovering, etc., to control the drone in real time and achieve different tasks.

[0039] The status monitoring and display module is used for real-time monitoring and display of the drone's position, speed, and attitude, real-time flight track monitoring and display, and intuitive observation of the drone's status.

[0040] Parameter loading module, used for UAV mission loading, formation spacing parameters, payload parameter loading, etc.

[0041] In the present invention, the intelligent payload situation analysis system is used to display the status changes that occur during the simulation process, including basic information of the UAV and the airborne intelligent decision-making payload, such as the UAV position, trajectory information, detection-related information, communication-related information, real-time longitude and latitude changes, etc. The thumbnail map can view map information with a larger viewing angle.

[0042] During the simulation process, the intelligent payload situation analysis system will also display the real-time simulation information at the current moment, requiring the current data at various levels such as drone status and formation, and displaying the airborne intelligent decision-making actions, detection results, equipment location status information, simulation mission process, and action execution effects.

[0043] The result evaluation page of the situation analysis system is used to display the data statistical summary table after each simulation process, including key evaluation contents such as drone operation process information, formation information, track information, etc. of the current simulation process, as well as summary and statistical data after each simulation.

[0044] In the present invention, the airborne SAR radar simulation simulator is composed of a framework as follows: Figure 4 As shown, it mainly includes two modules: communication module and functional module.

[0045] (1) The communication module includes an interface configuration module and an instruction parsing module.

[0046] ①Interface configuration module: Initialize and configure the external electrical interfaces of the airborne SAR radar simulator. The specific interfaces include:

[0047] a. Serial port between airborne SAR radar simulator and airborne intelligent decision-making payload: an RS422 interface, used to send control instructions from the airborne intelligent decision-making payload to the airborne SAR radar simulator, and receive status parameters sent back by the airborne SAR radar simulator to the airborne intelligent decision-making payload;

[0048] b. Interface between the airborne SAR radar simulator and the UAV flight control: an RS422 (or TTL) interface, used to receive the UAV attitude, latitude and longitude information sent by the UAV to the airborne SAR radar simulator, and provide it to the radar IMU and GPS module for simulation calculation;

[0049] c. Detection result interface between airborne SAR radar simulator and airborne intelligent decision-making payload: an Ethernet port, used to send detection data transmitted by the airborne SAR radar simulator to the airborne intelligent decision-making payload. In single pulse detection mode, the detection data is mainly based on the number of targets detected by a single pulse and the target latitude and longitude information; in imaging recognition mode, the detection data is mainly based on the cropped radar image data and image information data.

[0050] ②Instruction parsing module: used to package and parse the data between the airborne SAR radar simulator and the airborne intelligent decision-making payload, and between the airborne SAR radar simulator and the flight control computer. Parsing is to process the control instructions sent by the airborne intelligent decision-making payload to the airborne SAR radar simulator and the attitude and position information sent by the flight control computer to the airborne SAR radar simulator, and convert them into data variables for the airborne SAR radar simulator to perform specific functions and operations; packaging is to process the data sent by the airborne SAR radar simulator to the airborne intelligent decision-making payload according to the communication protocol and convert it into a communication format that can be sent through the interface.

[0051] (2) Functional modules include: IMU and GPS module, servo command solution module, servo control module, antenna simulation module, data output processing module and file reading module.

[0052] ① Radar IMU and GPS model, used to simulate the radar's own inertial group and GPS unit, the input is the UAV attitude and latitude and longitude information sent by the flight control computer, and the output is the radar self-solved trajectory and radar attitude information with deviation;

[0053] ②Servo instruction solving module, which is used to output the swing angle instruction value of the radar servo mechanism adapted to the radar working mode according to the instructions sent by the intelligent decision-making load and the output information of the radar IMU and GPS model;

[0054] ③Servo control module, which is a radar servo mathematical model, solves the actual servo swing output according to the swing angle command value of the radar servo mechanism output by the servo command solving module;

[0055] ④ Antenna simulator, which is a beam simulation model. According to the beam angle setting value, combined with the radar position and servo azimuth information, it determines the projection coverage of the beam on the ground and the distance from the center of the beam to its detection point; and combined with the target information read by the file reading module, it outputs the latitude and longitude information of the target that can be detected by the beam;

[0056] ⑤ Data output processing module: for the single pulse detection mode, its data output processing mainly adds output error to the target that can be detected by the beam under single pulse detection, and at the same time makes a judgment on the output result containing error, and gives the target and its information within 60m around the expected detection point; for the imaging recognition mode, it takes the expected detection point as the center and performs image cropping on the corresponding radar image read in by the file reading module; in all working modes, it gives the current radar servo angle, expected servo angle, working mode, power on / off and other information;

[0057] ⑥ File reading module, used to read the corresponding radar image and target information files stored in the computer in advance according to the target layout plan set before the test, for use by the antenna simulator and data output processing module.

[0058] In order to meet the test and verification needs of intelligent decision-making payloads in the aerospace field, a demonstration platform combining software and hardware is designed to verify the correctness of the intelligent decision-making payload function and the matching of the intelligent decision-making payload with the UAV system, ground command system and intelligent payload situation analysis system through semi-physical simulation test. This demonstration platform is based on the semi-physical simulation method. By designing and implementing the intelligent payload situation analysis system, the readability and interpretability of the data in the semi-physical simulation are improved. A new airborne SAR radar semi-physical simulator is designed to ensure the equivalence of the semi-physical simulation of the UAV with the actual flight state and process, thereby verifying the correctness of the intelligent decision-making payload function and the matching of software and hardware in the test process, and playing a role in ensuring the safety of the UAV during the actual flight process.

[0059] like Figure 5 As shown in the figure, the simulation process first initializes the simulation parameters, reads the setting document of the target situation and configures the Ethernet environment, waits for the timing to end, parses the flight control information and updates the IMU and GPS information, and then sets the radar simulator working mode according to the four control instructions. The radar simulation calculates the relevant servo parameters according to different working models and packages them for output to the intelligent decision-making payload.

[0060] The present invention has been described in detail above in conjunction with specific implementations and exemplary examples, but these descriptions cannot be understood as limiting the present invention. Those skilled in the art understand that, without departing from the spirit and scope of the present invention, a variety of equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its implementation methods, all of which fall within the scope of the present invention. The scope of protection of the present invention shall be subject to the attached claims.

[0061] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A semi-physical simulation verification and demonstration system for unmanned aerial vehicles based on the combination of virtual and real, characterized in that: Includes at least one flight control computer, airborne intelligent decision-making payload, airborne SAR radar simulator and ground command and control system; At least one flight control computer, used to receive mission instructions sent by the ground command and control computer and track planning information sent by the onboard intelligent decision-making payload, and implement flight control and route guidance of the UAV formation; Airborne SAR radar simulator, used to receive the UAV attitude and latitude and longitude information sent by the flight control computer, and implement the calculation of radar trajectory and radar attitude information; Receive the track planning information and control instructions sent by the airborne intelligent decision-making payload, and send the detection data of the corresponding radar track and attitude and the state parameters of the airborne SAR radar simulator to the airborne intelligent decision-making payload; The airborne intelligent decision-making payload is used to receive the detection data sent by the airborne SAR radar simulator, complete situation fusion and trajectory planning, generate UAV detection control instructions and path planning information, and transmit them to the flight control computer and the airborne SAR radar simulator; The ground command and control computer is equipped with a ground command system and an intelligent payload situation analysis system. The intelligent payload situation analysis system is used to display the two-dimensional situation of all UAVs. The ground command system is used to perform route binding and mission execution management for all UAVs, control the formation movement of all UAVs, save, replay and analyze the telemetry data of all UAVs, synchronize the data with other ground systems, and send the data or commands of other ground systems to the flight control computer.

2. The UAV semi-physical simulation verification and demonstration system based on the combination of virtual and real according to claim 1 is characterized in that: The flight control computer is loaded with an aircraft model, an attitude controller, a position controller, a guidance controller and a multi-machine cooperative controller; Aircraft models, including UAV dynamics model and kinematics model, are used to simulate the flight state of real UAVs; The attitude controller is used to control the three channels of roll, pitch and yaw of the drone, so that the drone can reach the expected attitude angle; Position controller, used to control the UAV’s horizontal, vertical and height channels, so that the UAV can reach the desired position; A guidance controller, which is used to guide the flight path of the aircraft based on the trajectory planning information sent by the onboard intelligent decision-making payload; The multi-machine cooperative controller is used for lateral and longitudinal formation control of UAVs to achieve the desired relative positions between UAVs.

3. The UAV semi-physical simulation verification and demonstration system based on the combination of virtual and real according to claim 1 is characterized in that: The ground command system includes a track planning module, a command control module, a status monitoring and display module and a parameter loading module; The track planning module is used for general route planning, coordinated strike route planning, reconnaissance route planning, and regional obstacle avoidance route planning. Different routes are planned based on different mission scenarios. The command control module is used to issue the start mission, return, and hover control commands, and control the drone in real time to complete different tasks; Status monitoring and display module, used for real-time monitoring and display of the drone's position, speed, and attitude, real-time flight track monitoring and display, and intuitive observation of the drone's status; Parameter loading module, used for UAV mission loading, formation spacing parameters, and payload parameter loading.

4. The UAV semi-physical simulation verification and demonstration system based on the combination of virtual and real according to claim 1 is characterized in that: The airborne SAR radar simulation simulator includes: IMU and GPS module, servo instruction solution module, servo control module, antenna simulation module, data output processing module and file reading module; Radar IMU and GPS models are used to simulate the radar's own inertial group and GPS unit, and output the radar self-solved trajectory and radar attitude information with deviations according to the drone attitude and latitude and longitude information sent by the flight control computer; The servo instruction solving module is used to output the swing angle instruction value of the radar servo mechanism adapted to the radar working mode according to the instruction sent by the intelligent decision-making load and the output information of the radar IMU and GPS model; A servo control module, used for calculating the actual servo swing output according to the swing angle command value of the radar servo mechanism output by the servo command calculation module; The antenna simulator is used to determine the projection coverage of the beam on the ground and the distance from the center of the beam to its detection point according to the beam angle setting value, combined with the radar position and servo azimuth information; and combined with the target information read by the file reading module, output the latitude and longitude information of the target that can be detected by the beam; The data output processing module is used to add output errors to the targets detected under the single pulse detection mode, and to adjudicate the output results containing errors, and to provide the targets and their information within the setting range of the expected detection point; or, in the imaging recognition mode, to perform image cropping on the corresponding radar image read by the file reading module with the expected detection point as the center; in all working modes, to provide the current radar servo angle, the expected servo angle, the working mode, and the power on / off information; in all working modes, to provide the current radar servo angle, the expected servo angle, the working mode, and the power on / off information; The file reading module is used to read the radar image and target information according to the target layout plan set before the test, for use by the antenna simulator and data output processing module.

5. The UAV semi-physical simulation verification and demonstration system based on virtual-real combination according to claim 1 is characterized in that: The airborne SAR radar simulation simulator also includes an interface configuration module and an instruction parsing module; The interface configuration module is used to initialize and configure the external electrical interface of the airborne SAR radar simulator; The instruction parsing module is used to package and parse data between the airborne SAR radar simulation simulator and the airborne intelligent decision-making payload, and between the airborne SAR radar simulation simulator and the flight control computer.

6. The UAV semi-physical simulation verification and demonstration system based on the combination of virtual and real according to claim 5 is characterized in that: The external electrical interfaces of the airborne SAR radar simulation simulator include: The serial port between the airborne SAR radar simulator and the airborne intelligent decision-making payload is used to send control instructions from the airborne intelligent decision-making payload to the airborne SAR radar simulator, and receive status parameters sent back by the airborne SAR radar simulator to the airborne intelligent decision-making payload; The interface between the airborne SAR radar simulator and the UAV flight control is used to receive the UAV attitude, latitude and longitude information sent by the UAV to the airborne SAR radar simulator, and provide it to the radar IMU and GPS module; The detection result interface between the airborne SAR radar simulation simulator and the airborne intelligent decision-making payload is used to send the detection data transmitted by the airborne SAR radar simulation simulator to the airborne intelligent decision-making payload.

7. The UAV semi-physical simulation verification and demonstration system based on virtual-real combination according to claim 1 or 6 is characterized in that: In the single-pulse detection mode, the detection data is mainly the number of targets detected by a single pulse and the target latitude and longitude information; in the imaging recognition mode, the detection data is mainly the cropped radar image data and image information data.

8. The UAV semi-physical simulation verification and demonstration system based on virtual-real combination according to claim 1 is characterized in that: The UAV semi-physical simulation verification and demonstration system also includes a payload power supply unit for supplying power to the airborne equipment.

9. The UAV semi-physical simulation verification and demonstration system based on virtual-real combination according to claim 1 is characterized in that: The UAV semi-physical simulation verification and demonstration system also includes an airborne image transmission module, which is connected to the airborne intelligent decision-making payload Ethernet and is used to transmit the detection data of the airborne SAR radar simulation simulator to the ground command and control computer.

10. The UAV semi-physical simulation verification and demonstration system based on the combination of virtual and real according to claim 9 is characterized in that: The UAV semi-physical simulation verification and demonstration system also includes a collaborative controller for information forwarding and scheduling between the flight control computer, the airborne image transmission module and the airborne intelligent decision-making payload.

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