Unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation

Abstract

The invention discloses an unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation. Belongs to the technical field of unmanned aerial vehicle testing, and particularly relates to the technical field of unmanned aerial vehicle hardware-in-the-loop testing based on visual simulation. And comprehensive testing of the unmanned aerial vehicle in a laboratory environment is realized. The system comprises a seeker, a visual display screen, a visual simulator, an aircraft body, a navigation simulator, a three-axis turntable and a closed-loop simulator, the seeker calculates the miss distance; the visual display screen displays a virtual scene generated by the visual simulator and provides scene data; the aircraft body is used for measuring aircraft attitude data; the calculation module is used for calculating pitching sight angular velocity and yawing sight angular velocity of the aircraft; the decision module is used for deciding aircraft control quantity; the navigation simulator generates a navigation signal; the three-axis turntable is used for adjusting the attitude of the aircraft body in real time; the closed-loop simulator is used for generating aircraft position and speed information and updated aircraft attitude data.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle testing, and in particular to the technical field of unmanned aerial vehicle hardware-in-the-loop testing based on visual simulation. Background Art

[0002] Unmanned aerial vehicles (UAVs) are increasingly used in military and civilian applications, and their performance and reliability directly affect the success of the mission. Traditional UAV testing methods usually rely on actual flight tests, which are not only costly and time-consuming, but also limited by external conditions such as weather and airspace. Therefore, it is of great practical significance to develop a system that can perform UAV performance testing in a laboratory environment.

[0003] Hardware-in-the-loop (HIL) testing is a testing method that combines actual hardware with simulation models, which can effectively simulate the actual flight environment and improve the accuracy and reliability of the test. However, the existing HIL test system has deficiencies in visual simulation and navigation signal simulation, and cannot truly reflect the visual perception, navigation signal reception and working status of the aircraft in the actual environment.

[0004] When controlling an aircraft to conduct visual simulation hardware-in-the-loop testing, it is necessary to calculate the aircraft's line-of-sight angular rate based on the aircraft's miss distance. However, there is no direct conversion relationship between the aircraft's miss distance and the line-of-sight angular rate. When calculating the line-of-sight angular rate, the traditional method uses information not only from the line-of-sight angle, but also comprehensively considers the aircraft's track information, which not only increases the amount of calculation but also introduces new errors. Summary of the invention

[0005] In view of the problem that existing testing methods cannot truly reflect the visual perception, navigation signal reception and working status of the aircraft in the actual environment, the present invention discloses a hardware-in-the-loop testing system for an unmanned aerial vehicle based on visual simulation. By organically combining components such as the seeker, the aircraft body, the closed-loop simulator, the three-axis turntable, the navigation simulator, the visual display screen and the scene simulation software, a comprehensive test of the unmanned aerial vehicle in a laboratory environment is achieved. The present invention also proposes a self-developed method for calculating the line of sight angular velocity, which greatly reduces the error rate.

[0006] The system comprises: a seeker, a visual display screen, a visual simulator, an aircraft body, a navigation simulator, a three-axis turntable and a closed-loop simulator;

[0007] The seeker is used to collect scene data on the visual display screen, calculate the miss distance, and send the calculation results to the aircraft body;

[0008] The visual display screen is used to display the virtual scene generated by the visual simulator and provide scene data for the seeker;

[0009] The visual simulator is used to receive the updated aircraft attitude data sent by the closed-loop simulator, generate the corresponding virtual scene in real time, and project it on the visual display screen;

[0010] The aircraft body is used to receive the miss distance sent by the seeker;

[0011] Used to measure aircraft attitude data;

[0012] Used to calculate the pitch line of sight angular velocity and yaw line of sight angular velocity of the aircraft;

[0013] Used to make decisions on aircraft control quantities;

[0014] Used to send aircraft attitude data and aircraft control quantities to a closed-loop simulator;

[0015] The navigation simulator is used to receive the aircraft position and speed information sent by the closed-loop simulator, and convert the aircraft position and speed information into coordinates to obtain a navigation signal and send it to the aircraft body;

[0016] The three-axis turntable is used to receive the updated aircraft attitude data sent by the closed-loop simulator and adjust the attitude of the aircraft body in real time;

[0017] The closed-loop simulator is used to receive and process the aircraft attitude data and aircraft control quantity sent by the aircraft body, and generate aircraft position and speed information as well as updated aircraft attitude data;

[0018] Used to send aircraft position and speed information to the navigation simulator;

[0019] Used to send updated aircraft attitude data to the three-axis turntable and vision simulator.

[0020] Furthermore, the miss distance includes: the miss distance deviation Δx between the x-axis target point and the center of the field of view p and the miss distance deviation Δy between the y-axis target point and the center of the field of view p .

[0021] Further, the closed-loop simulator includes: a magnetometer simulator, an accelerometer simulator, a barometer simulator, an airspeed meter simulator, and a dynamics module;

[0022] The magnetometer simulator is used to measure the magnetic field strength;

[0023] The accelerometer simulator is used to measure the acceleration of the aircraft;

[0024] The barometer simulator is used to measure the air pressure of an aircraft;

[0025] The airspeed meter simulator is used to measure the airspeed of an aircraft;

[0026] The dynamics module is used to run the dynamics model to process the data sent by the aircraft body.

[0027] Further, the aircraft body includes: a navigation receiver, a main control unit and an inertial measurement unit;

[0028] The main control unit is connected to the navigation receiver and the inertial measurement unit respectively.

[0029] Furthermore, the measuring of the aircraft attitude data is specifically: measuring the aircraft attitude data in real time through an inertial measurement unit; the aircraft attitude data includes gyro angular velocity and three-axis angles; the three-axis angles include the pitch angle of the aircraft, the yaw angle of the aircraft and the roll angle of the aircraft.

[0030] Further, the pitch sight angular velocity and the yaw sight angular velocity of the aircraft are calculated specifically by running a flight control algorithm through a main control unit to calculate the pitch sight angular velocity and the yaw sight angular velocity of the aircraft:

[0031] S1. Calculate the pitch angle θ between the seeker optical axis and the target based on the miss distance and the camera focal length f of the seeker. p and yaw angle

[0032] S2, according to θ p and Solve the pitch sight angle θ and yaw sight angle of the aircraft

[0033] θ=90-q-θ p , Where q represents the pitch angle of the aircraft, and r represents the yaw angle of the aircraft;

[0034] S3, for θ and Take the derivative and get the pitch line of sight angular velocity and yaw line of sight angular velocity of the aircraft.

[0035] Further, the decision on the aircraft control quantity is specifically as follows: the main control unit decides the aircraft control quantity based on the aircraft's pitch line of sight angular velocity and yaw line of sight angular velocity combined with sensor data; the sensor data includes: gyroscope angular velocity, magnetic field strength, aircraft acceleration, aircraft air pressure and aircraft airspeed.

[0036] Furthermore, the receiving and processing of the aircraft attitude data and the aircraft control quantity sent by the aircraft body to generate the aircraft position and speed information and the updated aircraft attitude data is specifically as follows: the dynamics module runs the dynamics model to generate the aircraft position and speed information and the updated aircraft attitude data according to the aircraft attitude data and the aircraft control quantity.

[0037] The beneficial effects of the present invention are:

[0038] (1) The system of the present invention realizes comprehensive testing of unmanned aerial vehicles in a laboratory environment by organically combining components such as a seeker, an aircraft body, a closed-loop simulator, a three-axis turntable, a navigation simulator, a visual display screen, and scene simulation software. The system has the advantages of high-precision simulation, real scene reproduction, navigation signal simulation, closed-loop control, and laboratory environment testing, and can effectively improve the testing efficiency and reliability of unmanned aerial vehicles.

[0039] (2) High real-time performance: The closed-loop simulator of the present invention is built using a PXI real-time simulation system, which has higher real-time performance than pure simulation.

[0040] (3) Use real stand-alone machines as much as possible: The hardware-in-the-loop test system provided by the present invention uses a real main control unit, inertial measurement unit (IMU), guidance head, etc. Compared with traditional aircraft simulation tests, only the main control unit is a real stand-alone machine, and the remaining sensors and actuators all use simulation models, which can truly simulate the working status of a stand-alone machine.

[0041] (4) The communication protocol is consistent with that of the real machine: In the solution provided by the present invention, the single machine uses the same communication protocol as the real single machine to communicate with the closed-loop simulator or the main control unit. Compared with the traditional aircraft simulation experiment, which requires the specification of a virtual communication protocol to complete the closed loop, it has a higher degree of simulation.

[0042] (5) The method for calculating the line of sight angular velocity proposed in the present invention only refers to the relationship between the three-axis attitude information of the aircraft obtained by sampling from the seeker and the rotation angle of the coordinate system, thereby reducing the error source and improving the calculation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 A schematic diagram of the system structure described in an embodiment of the present invention;

[0044] Figure 2 The present invention is a flow chart for calculating the pitch line of sight angular velocity and the yaw line of sight angular velocity of an aircraft in an embodiment of the present invention.

[0045] 1-seeker, 2-visual display screen, 3-visual simulator, 4-aircraft body, 401-power module, 402 measurement and control module, 403-navigation receiver, 404-main control unit, 405-inertial measurement unit, 5-navigation simulator, 6-three-axis turntable, 7-closed-loop simulator, 701-magnetometer simulator, 702-accelerometer simulator, 703-barometer simulator, 704-airspeed meter simulator and 705-dynamics module. DETAILED DESCRIPTION

[0046] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0047] This embodiment provides a hardware-in-the-loop test system for unmanned aerial vehicles based on visual simulation. The structure of the system is as follows: Figure 1 As shown, the system includes: a seeker 1, a visual display screen 2, a visual simulator 3, an aircraft body 4, a navigation simulator 5, a three-axis turntable 6 and a closed-loop simulator 7;

[0048] The seeker head 1 is placed on the table, facing the visual display screen 2;

[0049] The aircraft body 4 is arranged on a three-axis turntable 6;

[0050] The closed-loop simulator 7 is connected to the seeker 1, the three-axis turntable 6, the visual simulator 3, the navigation simulator 5 and the aircraft body 4 respectively.

[0051] The visual display screen 2 is connected to the visual simulator 3 .

[0052] The seeker 1 is used to collect scene data on the visual display screen 2, calculate the miss distance, and send the calculation result to the aircraft body 4 through the closed-loop simulator 7; the miss distance includes: the miss distance deviation Δx between the x-axis target point and the center of the field of view p and the miss distance deviation Δy between the y-axis target point and the center of the field of view p .

[0053] The visual display screen 2 is used to display the virtual scene generated by the visual simulator 3 and provide scene data for the seeker 1.

[0054] The visual simulator 3 is used to receive the updated aircraft attitude data sent by the closed-loop simulator 7, generate the corresponding virtual scene in real time, and project it on the visual display screen 2.

[0055] The aircraft body 4 is used to receive the miss distance sent by the seeker 1;

[0056] Used to measure aircraft attitude data;

[0057] Used to calculate the pitch line of sight angular velocity and yaw line of sight angular velocity of the aircraft;

[0058] Used to make decisions on aircraft control quantities;

[0059] Used to send aircraft attitude data and aircraft control quantities to the closed-loop simulator 7;

[0060] It is used to receive and update the navigation signal sent by the navigation simulator 5, obtain updated aircraft position and speed information, and send the updated aircraft position and speed information to the closed-loop simulator 7.

[0061] The navigation simulator 5 is used to receive the aircraft position and speed information sent by the closed-loop simulator 7, and perform coordinate conversion on the aircraft position and speed information to obtain a navigation signal and send it to the aircraft body 4.

[0062] The three-axis turntable 6 is used to receive the updated aircraft attitude data sent by the closed-loop simulator 7 and adjust the attitude of the aircraft body 4 in real time.

[0063] The closed-loop simulator 7 is used to receive and process the aircraft attitude data and aircraft control quantity sent by the aircraft body 4, and generate aircraft position and speed information and updated aircraft attitude data;

[0064] Used to send aircraft position and speed information to the navigation simulator 5;

[0065] Used to send updated aircraft attitude data to the three-axis turntable 6 and the visual simulator 3;

[0066] Used to receive and process the updated aircraft position and speed information sent by the aircraft body 4.

[0067] The closed-loop simulator 7 is built using a PXI real-time simulation system.

[0068] like Figure 1 As shown, the closed-loop simulator 7 includes: a magnetometer simulator 701, an accelerometer simulator 702, a barometer simulator 703, an airspeed meter simulator 704 and a dynamics module 705;

[0069] The magnetometer simulator 701 is used to measure the magnetic field strength;

[0070] The accelerometer simulator 702 is used to measure the acceleration of the aircraft;

[0071] The barometer simulator 703 is used to measure the air pressure of the aircraft;

[0072] The airspeed meter simulator 704 is used to measure the airspeed of the aircraft;

[0073] The dynamics module 705 is used to run a dynamics model to process the data sent by the aircraft body 4 .

[0074] like Figure 1 As shown, the aircraft body 4 includes: a navigation receiver 403, a main control unit 404 and an inertial measurement unit 405; the main control unit 404 is connected to the navigation receiver 403 and the inertial measurement unit (IMU) 405 respectively.

[0075] The measurement of the aircraft attitude data specifically includes: measuring the aircraft attitude data in real time through the inertial measurement unit 405; the aircraft attitude data includes gyro angular velocity and three-axis angles; the three-axis angles include the pitch angle of the aircraft, the yaw angle of the aircraft and the roll angle of the aircraft.

[0076] The seeker described in this embodiment is a strapdown seeker, that is, a seeker in which the detector is rigidly connected to the aircraft shell. There is no direct conversion relationship between the miss amount in the pixel coordinate system and the actual line of sight angular rate (the pitch line of sight angular rate and the yaw line of sight angular rate of the aircraft). Therefore, it is considered to obtain the relationship between the pitch and yaw direction angles between the optical axis center of the seeker 1 and the target through the miss amount and the camera focal length of the seeker 1. On this basis, the angle information of the speed in the launch inertial system is solved by the navigation unit, and the three-axis angle information of the aircraft body 4 in the inertial system is solved by the inertial measurement unit 405. The pitch line of sight angle and the yaw line of sight angle of the aircraft are converted through the spatial geometric relationship between the three, and the corresponding angular rate information is obtained by respectively differentiating the angles.

[0077] like Figure 2 As shown, the pitch sight angular velocity and yaw sight angular velocity of the aircraft are calculated specifically as follows: the main control unit 404 runs a flight control algorithm to calculate the pitch sight angular velocity and yaw sight angular velocity of the aircraft:

[0078] S1, based on the miss distance and the camera focal length f of the seeker (1), jointly calculate the pitch angle θ between the seeker optical axis and the target p and yaw angle

[0079] S2, according to θ p and Solve the pitch sight angle θ and yaw sight angle of the aircraft

[0080] θ=90-q-θ p , Wherein, w represents the pitch angle of the aircraft, and r represents the yaw angle of the aircraft;

[0081] S3, for θ and Take the derivative and get the pitch line of sight angular velocity and yaw line of sight angular velocity of the aircraft.

[0082] The decision on the aircraft control quantity is specifically as follows: the main control unit 404 decides the aircraft control quantity based on the pitch line of sight angular velocity and the yaw line of sight angular velocity of the aircraft in combination with sensor data; the sensor data includes: gyro angular velocity, magnetic field strength, aircraft acceleration, aircraft air pressure and aircraft airspeed.

[0083] The navigation receiver 403 is used to provide navigation information to the aircraft body 4 according to the navigation signal sent by the navigation simulator 5 .

[0084] The main control unit 404 is used to update the navigation signal sent by the navigation simulator 5 , obtain updated aircraft position and speed information, and send the updated aircraft position and speed information to the dynamics module 705 .

[0085] The dynamics module 705 receives the updated aircraft position and velocity information and adjusts the parameters of the dynamics model in combination with the aircraft attitude data to achieve closed-loop control.

[0086] The receiving and processing of the aircraft attitude data and aircraft control quantity sent by the aircraft body 4, and the generation of aircraft position and speed information and updated aircraft attitude data are specifically as follows: the dynamics module 705 runs the dynamics model to generate aircraft position and speed information and updated aircraft attitude data according to the aircraft attitude data and aircraft control quantity.

[0087] like Figure 1 As shown, the aircraft body 4 also includes a power module 401 and a measurement and control module 402. The power module 401 is used to supply power to each module on the aircraft body 4; the measurement and control module 402 is used to receive wireless command signals from the ground, such as target information binding signals and transmission signals.

Claims

1. Unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation, characterized in that: The system comprises: a guidance head (1), a visual display screen (2), a visual simulator (3), an aircraft body (4), a navigation simulator (5), a three-axis turntable (6) and a closed-loop simulator (7); The seeker (1) is used to collect scene data on the visual display screen (2), calculate the miss distance, and send the calculation result to the aircraft body (4); The visual display screen (2) is used to display the virtual scene generated by the visual simulator (3) and provide scene data for the seeker (1); The visual simulator (3) is used to receive the updated aircraft attitude data sent by the closed-loop simulator (7), generate a corresponding virtual scene in real time, and project it on the visual display screen (2); The aircraft body (4) is used to receive the miss distance sent by the seeker (1); Used to measure aircraft attitude data; Used to calculate the pitch line of sight angular velocity and yaw line of sight angular velocity of the aircraft; Used to make decisions on aircraft control quantities; Used to send aircraft attitude data and aircraft control quantities to a closed-loop simulator (7); The navigation simulator (5) is used to receive the aircraft position and speed information sent by the closed-loop simulator (7), and to perform coordinate conversion on the aircraft position and speed information to obtain a navigation signal and send it to the aircraft body (4); The three-axis turntable (6) is used to receive updated aircraft attitude data sent by the closed-loop simulator (7) and adjust the attitude of the aircraft body (4) in real time; The closed-loop simulator (7) is used to receive and process the aircraft attitude data and aircraft control quantity sent by the aircraft body (4), and generate aircraft position and speed information and updated aircraft attitude data; Used to send aircraft position and speed information to the navigation simulator (5); It is used to send updated aircraft attitude data to the three-axis turntable (6) and the visual simulator (3).

2. The unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation according to claim 1, characterized in that: The miss distance includes: the miss distance deviation Δx between the x-axis target point and the center of the field of view p and the miss distance deviation Δy between the y-axis target point and the center of the field of view p .

3. The unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation according to claim 2, characterized in that: The closed-loop simulator (7) includes: a magnetometer simulator (701), an accelerometer simulator (702), a barometer simulator (703), an airspeed meter simulator (704) and a dynamics module (705); The magnetometer simulator (701) is used to measure the magnetic field strength; The accelerometer simulator (702) is used to measure the acceleration of the aircraft; The barometer simulator (703) is used to measure the air pressure of the aircraft; The airspeed meter simulator (704) is used to measure the airspeed of the aircraft; The dynamics module (705) is used to run a dynamics model to process data sent by the aircraft body (4).

4. The unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation according to claim 3 is characterized in that: The aircraft body (4) includes: a navigation receiver (403), a main control unit (404) and an inertial measurement unit (405); The main control unit (404) is connected to the navigation receiver (403) and the inertial measurement unit (405) respectively.

5. The unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation according to claim 4, characterized in that: The measuring of the aircraft attitude data specifically comprises: measuring the aircraft attitude data in real time through an inertial measurement unit (405); the aircraft attitude data comprises gyroscopic angular velocity and three-axis angles; the three-axis angles comprise the pitch angle of the aircraft, the yaw angle of the aircraft and the roll angle of the aircraft.

6. The unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation according to claim 5, characterized in that: The calculation of the pitch line of sight angular velocity and the yaw line of sight angular velocity of the aircraft is specifically as follows: the main control unit (404) runs a flight control algorithm to calculate the pitch line of sight angular velocity and the yaw line of sight angular velocity of the aircraft: S1, based on the miss distance and the camera focal length f of the seeker (1), jointly calculate the pitch angle θ between the seeker optical axis and the target p and yaw angle S2, according to θ p and Solve the pitch sight angle θ and yaw sight angle of the aircraft θ=90-q-θ p , Where q represents the pitch angle of the aircraft, and r represents the yaw angle of the aircraft; S3, for θ and Take the derivative and get the pitch line of sight angular velocity and yaw line of sight angular velocity of the aircraft.

7. The unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation according to claim 6, characterized in that: The decision of the aircraft control quantity is specifically as follows: the main control unit (404) decides the aircraft control quantity according to the pitch line of sight angular velocity and the yaw line of sight angular velocity of the aircraft in combination with sensor data; the sensor data includes: gyro angular velocity, magnetic field strength, acceleration of the aircraft, air pressure of the aircraft and airspeed of the aircraft.

8. The unmanned aerial vehicle hardware-in-the-loop test system based on visual simulation according to claim 7, characterized in that: The receiving and processing of the aircraft attitude data and the aircraft control quantity sent by the aircraft body (4) to generate the aircraft position and speed information and the updated aircraft attitude data is specifically as follows: the dynamics module (705) runs the dynamics model to generate the aircraft position and speed information and the updated aircraft attitude data according to the aircraft attitude data and the aircraft control quantity.

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