An unmanned aerial vehicle semi-physical simulation verification demonstration system based on virtual-real combination

Abstract

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

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of semi-physical simulation, and particularly relates to a virtual-real combined unmanned aerial vehicle semi-physical simulation verification and demonstration system. BACKGROUND

[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, a complete computer simulation model needs to be established first, which can accurately model and simulate the behavior of a 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 simulate and feedback according to the state of the actual physical device. The advantage of this semi-physical simulation technology is that it can balance 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 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 a car to evaluate the safety performance of the vehicle. In addition, in industrial production processes, 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 wide application value in many fields. Its emergence enables simulation technology to better combine with actual devices, providing a powerful tool for system design, optimization and evaluation.

[0004] When verifying the correctness of intelligent decision load function and the matching of software and hardware in the test process in semi-physical simulation, the construction of component units in the simulation system, such as the construction of SAR radar simulation simulator and the information interaction between component units, faces multiple technical challenges. First, high-precision mathematical and physical models need to be constructed to simulate the working environment of the radar on the unmanned aerial vehicle, while meeting the real-time requirements of semi-physical simulation to ensure that a large amount of data can be processed and realistic radar response signals can be produced in a very short time. Second, system integration and debugging is also a big difficulty, which needs to ensure the cooperative work between SAR radar simulation simulator and flight control system, as well as the performance change of radar under complex environmental conditions. SUMMARY

[0005] In order to overcome the deficiencies in the prior art, the inventors have made arduous research and provided a virtual-real combined unmanned aerial vehicle semi-physical simulation verification display system, which verifies the correctness of intelligent decision load function and the matching of software and hardware in the test process, and guarantees the safety in the real flight process of the unmanned aerial vehicle.

[0006] The technical scheme provided by the application is as follows:

[0007] The virtual-real combined unmanned aerial vehicle semi-physical simulation verification display system comprises at least one flight control computer, an airborne intelligent decision load, an airborne SAR radar simulation simulator and a ground command and control system.

[0008] The at least one flight control computer is used for receiving task instructions sent by the ground command and control computer and flight path planning information sent by the airborne intelligent decision load, and implementing flight control and route guidance of the unmanned aerial vehicle formation.

[0009] The airborne SAR radar simulation simulator is used for receiving unmanned aerial vehicle posture and latitude and longitude height information sent by the flight control computer, and implementing calculation of radar track and radar posture information; receiving flight path planning information and control instructions sent by the airborne intelligent decision load, and sending detection data and state parameters of the airborne SAR radar simulation simulator under corresponding radar track and posture to the airborne intelligent decision load.

[0010] The airborne intelligent decision load is used for receiving detection data sent by the airborne SAR radar simulation simulator, completing situation fusion and track planning, generating unmanned aerial vehicle detection control instructions and path planning information, and transmitting the unmanned aerial vehicle detection control instructions and path planning information to the flight control computer and the airborne SAR radar simulation simulator.

[0011] The ground command and control computer is loaded with a ground command system and an intelligent load situation analysis system, the intelligent load situation analysis system is used for displaying two-dimensional situations of all unmanned aerial vehicles, the ground command system is used for route binding, task execution management of all unmanned aerial vehicles, control of formation movement of all unmanned aerial vehicles, saving, playback and data analysis of telemetry data of all unmanned aerial vehicles, synchronization of data to other ground systems, and sending of data or commands of other ground systems to the flight control computer.

[0012] The virtual-real combined unmanned aerial vehicle semi-physical simulation verification display system provided by the application has the following beneficial effects:

[0013] (1) In order to adapt to the test verification requirements of intelligent decision-making load in the field of aerospace, a kind of soft and hardware combined demonstration platform is designed to verify the correctness of intelligent decision-making load function and the matching of intelligent decision-making load with unmanned aerial vehicle system, ground command system and intelligent load situation analysis system through semi-physical simulation test. This demonstration platform is based on semi-physical simulation method, realizes intelligent load situation analysis system through design, improves the readability and interpretability of data in semi-physical simulation, designs a new airborne SAR radar semi-physical simulator to ensure the equivalence of unmanned aerial vehicle semi-physical simulation and actual flight state and process, thereby verifying the correctness of intelligent decision-making load function and the matching of software and hardware in test process, and playing the function of ensuring the safety in real flight process of unmanned aerial vehicle.

[0014] (2) The airborne SAR radar simulation simulator is loaded with IMU and GPS modules, servo instruction solving module, servo control module, antenna simulation module, data output processing module and file reading module; the radar IMU and GPS model is used to simulate the inertial unit and GPS unit of the radar itself, outputs the radar self-solution trajectory with deviation and radar attitude information according to the unmanned aerial vehicle attitude and latitude and altitude 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 suitable for the working mode of the radar according to the instruction sent by the intelligent decision-making load and the output information of the radar IMU and GPS model; the servo control module is used to solve 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 range of the beam on the ground and the distance from the beam center to the detection point according to the beam angle setting value combined with the radar position and servo azimuth information; and outputs the latitude and altitude information of the detectable target of the beam combined with the target information read in by the file reading module; the design of the airborne SAR radar simulation simulator can obtain radar trajectory and radar attitude information corresponding to unmanned aerial vehicle attitude and latitude and altitude information, and further obtain corresponding detection information, thereby improving the accuracy of simulation. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structure diagram of the unmanned aerial vehicle semi-physical simulation verification demonstration system based on virtual-real combination;

[0016] Figure 2 It is a connection diagram of the airborne SAR radar simulation simulator and other airborne equipment;

[0017] Figure 3 It is a schematic diagram of software loaded in the flight control computer and the ground command computer;

[0018] Figure 4 It is a composition block diagram of the airborne SAR radar simulation simulator;

[0019] Figure 5The simulation flowchart of the unmanned aerial vehicle semi-physical simulation verification display system based on virtual-real combination. DETAILED DESCRIPTION

[0020] The features and advantages of the present application will become more apparent from the detailed description of the application, when taken in conjunction with the accompanying drawings.

[0021] The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations.

[0022] The present application provides an unmanned aerial vehicle semi-physical simulation verification display system based on virtual-real combination, which comprises at least one flight control computer, an airborne intelligent decision-making load, an airborne SAR radar simulation simulator, a ground command and control system, a cooperative controller, a load power supply unit and a data link, as shown in Figure 1 and Figure 2

[0023] The at least one flight control computer is used for receiving the task instructions sent by the ground command and control computer and the flight path planning information sent by the airborne intelligent decision-making load, and completing the flight control and the route guidance of the unmanned aerial vehicle formation by using the loaded unmanned aerial vehicle model, the attitude controller, the position controller, the guidance controller and the formation control algorithm.

[0024] The airborne SAR radar simulation simulator is used for receiving the flight path planning information and the control instructions sent by the airborne intelligent decision-making load, and sending the detection data and the state parameters of the airborne SAR radar simulation simulator to the airborne intelligent decision-making load; in the single-pulse detection mode, the detection data mainly comprises the number of targets detected by the single-pulse detection, the longitude and latitude information and the height information of the targets; in the imaging recognition mode, the detection data mainly comprises the cut radar image data and the image information data; the flight control computer sends the unmanned aerial vehicle attitude and the longitude and latitude information, and the radar trajectory and the radar attitude information are calculated.

[0025] The airborne intelligent decision-making load is used for receiving the detection data sent by the airborne SAR radar simulation simulator, completing the situation fusion, the trajectory planning and other functions, generating the unmanned aerial vehicle detection control instructions and the path planning information, and transmitting the unmanned aerial vehicle detection control instructions and the path planning information to the flight control computer and the airborne SAR radar simulation simulator.

[0026] ​The ground control computer is equipped with a ground command system and an intelligent payload situation analysis system. The intelligent payload situation analysis system displays the two-dimensional situation of all UAVs, including information such as position, speed, attitude, and mission status. The ground command system is used to set flight paths and manage mission execution for all UAVs, including upload limits, start, return, and hovering. It controls the formation movement of all UAVs, including assembly, departure, one-click formation, and formation changes. It saves, replays, and analyzes all UAV telemetry data and synchronizes data to other ground systems, and sends data or commands from 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, facilitating data transmission between the flight control computer and the ground command and control computer. The inter-aircraft data link needs to be able to transmit SAR detection images, key control commands, flight status information, and other data between the various flight control computers. The airborne image transmission module, as a component of the air-to-ground data link, is used to connect to the airborne intelligent decision payload via Ethernet, transmitting detection data from the airborne SAR radar simulator to the ground command and control computer.

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

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

[0030] In this invention, such as Figure 3 As shown, the hardware-in-the-loop simulation system for unmanned aerial vehicles (UAVs) installed in the flight control computer includes an aircraft model, attitude controller, position controller, and multi-machine cooperative controller.

[0031] Aircraft models, including UAV dynamics models, kinematic models, and aerodynamic models, are used to simulate the flight state of real UAVs;

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

[0033] The position controller is used for the horizontal, vertical, and altitude control of the drone to ensure that the drone reaches the expected position.

[0034] The guidance controller is used to guide the flight path of the aircraft based on the trajectory planning information sent by the airborne intelligent decision payload;

[0035] The multi-drone cooperative controller runs a formation control algorithm for the lateral and longitudinal formation control of UAVs, ensuring that the UAVs reach the expected relative positions.

[0036] In the present application, for the ground command system loaded in the ground control computer, it comprises a flight path planning module, an instruction control module, a state monitoring display module and a parameter loading module; wherein,

[0037] The flight path planning module is used for general flight path planning, cooperative attack flight path planning, reconnaissance flight path planning, regional obstacle avoidance flight path planning and the like, and different flight paths are planned based on different task scenarios.

[0038] The instruction control module is used for issuing control instructions such as starting task, returning, hovering and the like, and controlling the unmanned aerial vehicle in real time to realize different tasks.

[0039] The state monitoring display module is used for real-time monitoring and display of the position, speed and attitude of the unmanned aerial vehicle, real-time flight path monitoring and display, and intuitive observation of the state of the unmanned aerial vehicle.

[0040] The parameter loading module is used for unmanned aerial vehicle task loading, formation spacing parameter loading, load parameter loading and the like.

[0041] In the present application, the intelligent load situation analysis system is used to display the state changes occurring in the simulation process, including the basic information of the unmanned aerial vehicle and the airborne intelligent decision load, such as the position, trajectory information, detection related information, communication related information, real-time latitude and longitude changes and the like, and the thumbnail map can view the map information of a larger visual angle range.

[0042] The intelligent load situation analysis system also displays the real-time simulation information at the current time in the simulation process, requires the data of the unmanned aerial vehicle state, formation and the like at the current time, and displays the airborne intelligent decision action, detection result, equipment position state information, simulation task process, action execution effect and the like.

[0043] The result evaluation page of the situation analysis system is used to display the data statistical summary table after each simulation process, including the key evaluation contents such as the unmanned aerial vehicle operation process information, formation information, flight path information and the like of the current simulation process, and the summarized and statistical data after each simulation.

[0044] In the present application, the airborne SAR radar simulation simulator composition framework is as shown in Figure 4 The main includes two modules: communication module and function module.

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

[0046] ① Interface configuration module: initialize and configure the electrical interface of the airborne SAR radar simulation simulator. The specific interface includes:

[0047] a. The serial interface between the airborne SAR radar simulation simulator and the airborne intelligent decision load: an RS422 interface, used for sending the control instructions of the airborne intelligent decision load to the airborne SAR radar simulation simulator, and receiving the state parameters returned by the airborne SAR radar simulation simulator to the airborne intelligent decision load;

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

[0049] c. The detection result interface between the airborne SAR radar simulation simulator and the airborne intelligent decision load: an Ethernet port, used for sending the detection data transmitted by the airborne SAR radar simulation simulator to the airborne intelligent decision load. In the single-pulse detection mode, the detection data mainly include the number of targets detected by the single-pulse detection and the longitude and latitude information of the targets; in the imaging recognition mode, the detection data mainly include the cut radar image data and image information data.

[0050] ② Instruction analysis module: used for packaging and analyzing the data between the airborne SAR radar simulation simulator and the airborne intelligent decision load, and the data between the airborne SAR radar simulation simulator and the flight control computer. The analysis is to process the control instructions sent by the airborne intelligent decision load to the airborne SAR radar simulation simulator and the attitude and position information sent by the flight control computer to the airborne SAR radar simulation simulator, and convert them into data variables for the specific function implementation and operation of the airborne SAR radar simulation simulator; the packaging is to process the data sent by the airborne SAR radar simulation simulator to the airborne intelligent decision load according to the communication protocol, and convert them into the communication format that can be sent through the interface.

[0051] (2) The functional modules include: IMU and GPS module, servo instruction calculation module, servo control module, antenna simulation module, data output processing module and file reading module.

[0052] ① Radar IMU and GPS model, used for simulating the inertial unit and GPS unit of the radar, inputting the UAV attitude and longitude and latitude information sent by the flight control computer, and outputting the radar self-calculated trajectory with deviation and radar attitude information;

[0053] ② Servo instruction calculation module, used for outputting the swing angle instruction value of the radar servo mechanism according to the instructions sent by the intelligent decision load and the output information of the radar IMU and GPS model, and adapting to the working mode of the radar;

[0054] ③ Servo control module, which is a radar servo mathematical model, and calculates the actual servo swing output according to the swing angle instruction value of the radar servo mechanism output by the servo instruction calculation module.

[0055] (4) Antenna simulator, which is a beam simulation model, determines the projection coverage of the beam on the ground and the distance from the beam center to the 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, outputs the latitude, longitude and height information of the target that can be detected by the beam;

[0056] (5) Data output processing module, for single pulse detection mode, the 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, the output result with error is judged to give the target and its information within 60m around the expected detection point; for imaging recognition mode, the corresponding radar image read by the file reading module is image cut around the expected detection point; in all working modes, the current radar servo angle, servo expected angle, working mode, power on / off and other information are given;

[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 arrangement scheme set before the test, for use by the antenna simulator and the data output processing module.

[0058] In order to adapt to the test and verification requirements of intelligent decision-making load in the field of aerospace, a kind of software and hardware combined demonstration platform is designed to verify the correctness of intelligent decision-making load function and the matching of intelligent decision-making load with unmanned aerial vehicle system, ground command system and intelligent load situation analysis system through semi-physical simulation test. This demonstration platform is based on semi-physical simulation method, realizes intelligent load situation analysis system through design, improves the readability and interpretability of data in semi-physical simulation, designs a new airborne SAR radar semi-physical simulator to ensure the equivalence of unmanned aerial vehicle semi-physical simulation and actual flight state and process, so as to verify the correctness of intelligent decision-making load function and the matching of software and hardware in test process, and plays a role in ensuring the safety of unmanned aerial vehicle in real flight process.

[0059] As shown in Figure 5 , the simulation process first initializes the simulation parameters, reads the target situation setting document and configures the Ethernet environment, waits for the timing to end, analyzes and updates the IMU and GPS information of the flight control information, then sets the radar simulator working mode according to the four kinds of control instructions, the radar simulation calculates the related servo parameters according to different working models, and packs and outputs to the intelligent decision-making load.

[0060] The present application is described in detail above in connection with specific embodiments and exemplary examples, but the description is not to be construed to limit the present application. It will be understood by those skilled in the art that various equivalents, modifications and substitutions can be made to the present application and its embodiments without departing from the spirit and scope of the present application, and these are to be construed to fall within the scope of the present application. The scope of the present application is defined by the appended claims.

[0061] The contents not described in detail in the specification of the present application are known to those skilled in the art.

Claims

1. A virtual-real combined based unmanned aerial vehicle (UAV) hardware-in-the-loop simulation verification and demonstration system, characterized in that, The system comprises at least one flight control computer, an airborne intelligent decision-making load, an airborne SAR radar simulation simulator and a ground command system; The at least one flight control computer is used for receiving task instructions sent by the ground command computer and flight path planning information sent by the airborne intelligent decision-making load, and implementing flight control and route guidance of the unmanned aerial vehicle formation; The airborne SAR radar simulation simulator is used for receiving unmanned aerial vehicle attitude and latitude and longitude information sent by the flight control computer, and implementing calculation of radar trajectory and radar attitude information; The receiver is used for receiving flight path planning information and control instructions sent by the airborne intelligent decision-making load, and sending detection data and state parameters of the airborne SAR radar simulation simulator under corresponding radar trajectory and attitude to the airborne intelligent decision-making load; The airborne intelligent decision-making load is used for receiving detection data sent by the airborne SAR radar simulation simulator, completing situation fusion and trajectory planning, generating unmanned aerial vehicle detection control instructions and path planning information, and transmitting the same to the flight control computer and the airborne SAR radar simulation simulator; The ground command computer is loaded with a ground command system and an intelligent load situation analysis system, the intelligent load situation analysis system is used for displaying two-dimensional situations of all unmanned aerial vehicles, the ground command system is used for route binding, task execution management of all unmanned aerial vehicles, control of formation movement of all unmanned aerial vehicles, saving, playback and data analysis of telemetry data of all unmanned aerial vehicles, synchronization of data to other ground systems, and transmission of data or commands of other ground systems to the flight control computer.

2. The virtual-real combined based unmanned aerial vehicle semi-physical simulation verification exhibition system according to claim 1, 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-aircraft cooperative controller; The aircraft model comprises an unmanned aerial vehicle dynamics model and a kinematics model, and is used for simulating flight states of a real unmanned aerial vehicle; The attitude controller is used for controlling three channels of roll, pitch and yaw of the unmanned aerial vehicle, so that the unmanned aerial vehicle reaches an expected attitude angle; The position controller is used for controlling three channels of lateral, longitudinal and height of the unmanned aerial vehicle, so that the unmanned aerial vehicle reaches an expected position; The guidance controller is used for guiding a flight route of the aircraft according to flight path planning information sent by the airborne intelligent decision-making load; The multi-aircraft cooperative controller is used for lateral and longitudinal formation control of the unmanned aerial vehicle, so that the unmanned aerial vehicles reach an expected relative position.

3. The virtual-real combined based unmanned aerial vehicle semi-physical simulation verification exhibition system according to claim 1, characterized in that, The ground command system comprises a flight path planning module, an instruction control module, a state monitoring display module and a parameter loading module; The flight path planning module is used for planning different flight paths based on different task scenarios, such as ordinary route planning, cooperative attack route planning, reconnaissance route planning and regional obstacle avoidance route planning; The instruction control module is used for issuing start task, return and hovering control instructions, and controlling the unmanned aerial vehicles in real time to complete different tasks; The state monitoring display module is used for real-time monitoring and displaying of positions, speeds and attitudes of the unmanned aerial vehicles, real-time flight path monitoring and displaying, and intuitive observation of states of the unmanned aerial vehicles; The parameter loading module is used for unmanned aerial vehicle task loading, formation spacing parameter loading and load parameter loading.

4. The virtual-real combined based unmanned aerial vehicle semi-physical simulation verification exhibition system according to claim 1, characterized in that, The airborne SAR radar simulation simulator comprises an IMU and GPS module, a servo instruction calculation 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 for simulating the inertial measurement unit and GPS unit of the radar, and outputs the self-calculated trajectory of the radar with deviation and the radar attitude information according to the unmanned aerial vehicle attitude and latitude and longitude information sent by the flight control computer; The servo instruction calculation module is used for outputting the swing angle instruction value of the radar servo mechanism corresponding to the working mode of the radar according to the instruction sent by the intelligent decision load and the output information of the radar IMU and GPS model; The servo control module is used for calculating the actual servo swing output according to the swing angle instruction value of the radar servo mechanism output by the servo instruction calculation module; The antenna simulator is used for determining the projection coverage range of the beam on the ground and the distance from the beam center to the detection point of the beam according to the beam angle setting value and in combination with the radar position and servo azimuth information, and outputting the latitude and longitude information of the detectable target of the beam in combination with the target information read by the file reading module; The data output processing module is used for adding output error to the target detected in the monopulse detection mode, and giving the target and its information in the expected detection point setting range after the output result with error is judged, or cutting the corresponding radar image read by the file reading module with the expected detection point as the center in the imaging recognition mode, and giving the current radar servo angle, the servo expected angle, the working mode and the on-off information in all working modes. The file reading module is used for reading the radar image and target information according to the target arrangement scheme set before the test, and providing the antenna simulator and the data output processing module with the radar image and target information.

5. The virtual-real combined based unmanned aerial vehicle semi-physical simulation verification exhibition system according to claim 1, characterized in that, The airborne SAR radar simulation simulator further comprises an interface configuration module and an instruction analysis module; The interface configuration module is used for initializing and configuring the electrical interface of the airborne SAR radar simulation simulator; The instruction analysis module is used for packing and analyzing the data between the airborne SAR radar simulation simulator and the airborne intelligent decision load and between the airborne SAR radar simulation simulator and the flight control computer.

6. The virtual-real combined based UAV semi-physical simulation verification exhibition system according to claim 5, characterized in that, The electrical interface of the airborne SAR radar simulation simulator comprises: The serial port of the airborne SAR radar simulation simulator and the airborne intelligent decision load is used for sending the control instruction of the airborne intelligent decision load to the airborne SAR radar simulation simulator, and receiving the state parameter returned by the airborne SAR radar simulation simulator to the airborne intelligent decision load; The interface of the airborne SAR radar simulation simulator and the flight control of the unmanned aerial vehicle is used for receiving the unmanned aerial vehicle attitude, latitude and longitude information sent by the unmanned aerial vehicle to the airborne SAR radar simulation simulator, and providing the radar IMU and GPS module; The detection result interface of the airborne SAR radar simulation simulator and the airborne intelligent decision load is used for sending the detection data transmitted by the airborne SAR radar simulation simulator to the airborne intelligent decision load.

7. The virtual-real combined based unmanned aerial vehicle semi-physical simulation verification exhibition system according to claim 1 or 6, characterized in that, In the single pulse detection mode, the detection data mainly include the number of targets detected by single pulse detection, longitude and latitude information of the targets; in the imaging recognition mode, the detection data mainly include the cut radar image data and image information data.

8. The virtual-real combined based unmanned aerial vehicle semi-physical simulation verification exhibition system according to claim 1, characterized in that, The unmanned aerial vehicle semi-physical simulation verification demonstration system further comprises a load power supply unit for supplying power to the airborne equipment.

9. The virtual-real combined based UAV semi-physical simulation verification exhibition system according to claim 1, characterized in that, The unmanned aerial vehicle semi-physical simulation verification demonstration system further comprises an airborne image transmission module connected with the airborne intelligent decision load through Ethernet, for transmitting the detection data of the airborne SAR radar simulation simulator to the ground command computer.

10. The virtual-real combined based UAV semi-physical simulation verification exhibition system according to claim 9, characterized in that, The unmanned aerial vehicle semi-physical simulation verification demonstration system further comprises a cooperative controller for information forwarding and scheduling among the flight control computer, the airborne image transmission module and the airborne intelligent decision load.

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