Semi-physical rotor unmanned aerial vehicle simulation system driven by digital simulation engine

Abstract

The invention discloses a semi-physical rotor unmanned aerial vehicle simulation system driven by a digital simulation engine. The semi-physical rotor unmanned aerial vehicle simulation system comprises a ground rotor unmanned aerial vehicle platform and a digital simulation deduction platform, the ground rotor unmanned aerial vehicle platform is used for hardware simulation of rotor unmanned aerial vehicle airborne equipment and actual physical simulation of an attitude control model; the digital simulation deduction platform comprises a simulation computer and display and man-machine interaction equipment; and the simulation computer performs two-way data transmission with the rotor unmanned aerial vehicle through the wireless serial port antenna. Compared with a traditional unmanned aerial vehicle semi-physical simulation system and method, a digital simulation deduction platform is combined with a ground multi-rotor unmanned aerial vehicle platform supporting unmanned aerial vehicle three-axis autonomous motion; according to the method, mathematical simulation of unmanned aerial vehicle path optimization and a motion control algorithm, hardware simulation of airborne equipment such as a flight controller, an airborne sensor and an execution mechanism and actual physical simulation of an attitude control model can be realized at the same time, so that the fidelity of ground simulation of the rotor unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of semi-physical simulation of unmanned aerial vehicles (UAVs), and in particular to a semi-physical rotor UAV simulation system driven by a digital simulation engine. Background Art

[0002] With the widespread application of rotary-wing drones in both military and civilian fields, the demand for drone simulation technology is becoming increasingly urgent. Through simulation technology, researchers can simulate different flight environments and scenarios to test drone performance and behavior, thereby improving design efficiency, reducing development costs, completing rapid verification, and effectively avoiding the risks of actual flight.

[0003] Semi-physical UAV simulation combines mathematical simulation with real UAV platforms, giving it higher simulation fidelity and better human-computer interaction performance. The current semi-physical simulation of rotary-wing UAVs mainly focuses on the software and hardware simulation of the flight controller. The physical movement of the rotary-wing UAV mainly relies on the control turntable. It is impossible to simultaneously achieve mathematical simulation of path optimization and motion control algorithms, hardware simulation of onboard equipment such as flight controllers, onboard sensors, actuators, etc., and actual physical simulation of attitude control models under the drive of a digital simulation engine. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology and provide a semi-physical rotary-wing UAV simulation system driven by a digital simulation engine, which can simultaneously realize UAV path optimization and motion control algorithm, and improve the realism and effectiveness of rotary-wing UAV ground simulation.

[0005] The technical solution adopted in the present invention is: A semi-physical rotary-wing UAV simulation system driven by a digital simulation engine, comprising a ground rotary-wing UAV platform and a digital simulation deduction platform; The ground rotor UAV platform is used for hardware simulation of the onboard equipment of the rotor UAV and actual physical simulation of the attitude control model. The ground rotor UAV platform includes a fixed bracket, a ball joint bearing and a rotor UAV; the ball joint bearing is installed above the fixed bracket, and the rotor UAV is installed above the ball joint bearing; the fixed bracket provides support for the rotor UAV, and the ball joint bearing provides the UAV with three-axis motion freedom under pitch, yaw and roll angles; The digital simulation deduction platform includes a simulation computer and a display and human-computer interaction device; the simulation computer performs bidirectional data transmission with the rotor UAV via a wireless serial port antenna, and the simulation computer includes a parameter analysis and path optimization module, a simulation deduction module, a posture solution module, a motion state solution module, a situation rendering module, a data storage and playback module, and a display and human-computer interaction interface; The display and human-computer interaction device is connected to the display and human-computer interaction interface of the simulation computer through a wireless serial port antenna. The display and human-computer interaction device is used to set simulation parameters and rough track parameters, and sends the simulation parameters and rough track parameters to the parameter analysis and path optimization module through the display and human-computer interaction interface.

[0006] Specifically, the onboard equipment of the rotary-wing UAV includes onboard sensors, a flight controller and an actuator; the onboard sensors include an inertial measurement unit (IMU) and an electronic compass, and the onboard sensors measure and collect the attitude information of the rotary-wing UAV and feed it back to the flight controller; the flight controller performs attitude estimation through an extended Kalman filter, and then calculates the control parameters of the rotary-wing UAV in combination with the desired attitude output by the attitude solution module, and then compiles the control parameters into electrical signals and outputs them to the actuator; the actuator includes an electronic speed regulator, a motor and a propeller; the electronic speed regulator adjusts the speed of multiple motors according to the electrical signals output by the flight controller, and each motor drives the propeller to control the attitude of the rotary-wing UAV; the flight controller outputs the actual attitude of the rotary-wing UAV to the motion state solution module.

[0007] Specifically, the parameter parsing and path optimization module parses the input simulation parameters, and uses the Minimum Snap algorithm to refine and optimize the input rough track parameters, and then sends the parsed simulation parameters and the optimized expected motion path to the simulation deduction module.

[0008] Specifically, the simulation deduction module simulates and deduces the motion path based on the historical simulated motion state and the current simulated motion state of the rotorcraft, and compares and calculates the simulated motion path with the expected motion path to obtain the simulated motion state information of the rotorcraft, and outputs it to the attitude solution module; the simulated motion state information includes the expected speed, expected acceleration, simulated motion path and attitude.

[0009] Specifically, the attitude calculation module calculates the expected attitude of the rotorcraft based on the simulated motion state information output by the simulation deduction module, and transmits the expected attitude to the flight controller of the rotorcraft through the wireless serial port; the expected attitude includes the expected pitch, yaw, roll angle and the corresponding angular acceleration.

[0010] Specifically, the motion state calculation module receives the actual posture output by the flight controller through the wireless serial port antenna, calculates the simulated motion state of the rotorcraft according to the actual posture, and outputs the current simulated motion state to the simulation deduction module; the actual posture includes the actual pitch, yaw, roll angle and the corresponding angular acceleration.

[0011] Specifically, the situation rendering module performs three-dimensional rendering, lighting model calculation and perspective transformation operations on the virtual scene according to the simulated motion path and posture of the rotorcraft obtained from the simulation deduction module to realize flight status visualization.

[0012] Specifically, the data storage and playback module obtains the simulation process data of the simulated motion path and posture of the rotorcraft from the simulation deduction module for storage, and replays the stored simulation process data, and visualizes the replayed data through the situation rendering module for analysis of the simulation deduction process.

[0013] Due to the adoption of the above-mentioned technical solution, the present invention has the following advantages: Compared with traditional UAV semi-physical simulation systems and methods, the present invention combines a digital simulation deduction platform with a ground multi-rotor UAV platform that supports three-axis autonomous motion of the UAV. It can simultaneously realize mathematical simulation of UAV path optimization and motion control algorithms, hardware simulation of airborne equipment such as flight controllers, airborne sensors, actuators, etc., and actual physical simulation of attitude control models, thereby improving the realism of ground simulation of rotorcraft UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is an overall schematic diagram of the present invention.

[0015] Figure 2 It is a system flow chart of the present invention.

[0016] In the figure: 1-fixed bracket, 2-ball joint bearing, 3-rotor drone, 4-simulation computer, 5-display and human-computer interaction device, 6-wireless serial port antenna. DETAILED DESCRIPTION

[0017] The present invention will be further explained below with reference to the accompanying drawings and embodiments, which should not be used to limit the scope of protection of the present invention. The purpose of disclosing the present invention is to protect all technical improvements within the scope of the present invention.

[0018] Combined with attachment Figure 1-2 The semi-physical rotor UAV 3 simulation system driven by a digital simulation engine includes a ground rotor UAV 3 platform and a digital simulation deduction platform.

[0019] The ground rotor UAV 3 platform includes a fixed bracket 1, a ball joint bearing 2 and a rotor UAV 3; the ball joint bearing 2 is installed above the fixed bracket 1, and the rotor UAV 3 is installed above the ball joint bearing 2; the fixed bracket 1 provides support for the rotor UAV 3, and the ball joint bearing 2 provides the UAV with three-axis motion freedom under pitch, yaw and roll angles.

[0020] The ground-based rotorcraft UAV 3 platform is used for hardware simulation of the onboard equipment of the rotorcraft UAV 3 and actual physical simulation of the attitude control model. The onboard equipment of the rotorcraft UAV 3 includes onboard sensors, a flight controller, and an actuator. The onboard sensors include an inertial measurement unit (IMU) and an electronic compass. The onboard sensors measure and collect the attitude information of the rotorcraft UAV 3 and feed it back to the flight controller. The flight controller uses an extended Kalman filter to estimate the attitude, and then calculates the control parameters of the rotorcraft UAV 3 based on the desired attitude output by the attitude solution module. The control parameters are then compiled into electrical signals and output to the actuator. The actuator includes an electronic speed regulator, a motor, and a propeller. The electronic speed regulator adjusts the speed of multiple motors according to the electrical signals output by the flight controller, and each motor drives the propeller to control the attitude of the rotorcraft UAV 3. The flight controller outputs the actual attitude of the rotorcraft UAV 3 to the motion state solution module.

[0021] The digital simulation deduction platform includes a simulation computer 4 and a display and human-computer interaction device 5; the simulation computer 4 performs bidirectional data transmission with the rotor drone 3 through a wireless serial port antenna 6. The simulation computer 4 includes a parameter analysis and path optimization module, a simulation deduction module, an attitude solution module, a motion state solution module, a situation rendering module, a data storage and playback module, and a display and human-computer interaction interface.

[0022] The display and human-computer interaction device 5 is connected to the display and human-computer interaction interface of the simulation computer 4 through a wireless serial port antenna 6. The display and human-computer interaction device 5 is used to set the simulation parameters and rough track parameters, and sends the simulation parameters and rough track parameters to the parameter analysis and path optimization module through the display and human-computer interaction interface.

[0023] The parameter parsing and path optimization module parses the input simulation parameters, and uses the Minimum Snap algorithm to refine and optimize the input rough track parameters, and then sends the parsed simulation parameters and the optimized expected motion path to the simulation deduction module.

[0024] The simulation deduction module simulates and deduces the motion path based on the historical simulated motion state and the current simulated motion state of the rotorcraft UAV 3, compares and calculates the simulated motion path with the expected motion path, obtains the simulated motion state information of the rotorcraft UAV 3, and outputs it to the attitude solution module; the simulated motion state information includes the expected speed, expected acceleration, simulated motion path and attitude.

[0025] The attitude calculation module calculates the expected attitude of the rotor UAV 3 based on the simulated motion state information output by the simulation deduction module, and transmits the expected attitude to the flight controller of the rotor UAV 3 through the wireless serial port; the expected attitude includes the expected pitch, yaw, roll angle and the corresponding angular acceleration.

[0026] The motion state calculation module receives the actual attitude output by the flight controller through the wireless serial port antenna 6, calculates the simulated motion state of the rotorcraft 3 according to the actual attitude, and outputs the current simulated motion state to the simulation deduction module; the actual attitude includes the actual pitch, yaw, roll angle and the corresponding angular acceleration.

[0027] The situation rendering module performs three-dimensional rendering, lighting model calculation and perspective transformation operations on the virtual scene according to the simulated motion path and posture of the rotor UAV 3 obtained from the simulation deduction module to realize flight status visualization.

[0028] The data storage and playback module obtains the simulation process data of the simulated motion path and posture of the rotor UAV 3 from the simulation deduction module for storage, and replays the stored simulation process data. The replayed data is visualized through the situation rendering module for analysis of the simulation deduction process.

[0029] The parts not described in detail in this invention are prior art.

[0030] The embodiments selected herein for the purpose of disclosing the invention are presently considered suitable, but it should be understood that the invention is intended to include all variations and modifications of the embodiments that fall within the scope of the concept and invention.

Claims

1. A hardware-in-the-loop rotary-wing UAV simulation system driven by a digital simulation engine, characterized by: Including ground rotor UAV platform and digital simulation deduction platform; The ground rotor UAV platform is used for hardware simulation of the rotor UAV airborne equipment and actual physical simulation of the attitude control model. The ground rotor UAV platform includes a fixed bracket, a ball joint bearing and a rotor UAV; The ball joint bearing is installed above the fixed bracket, and the rotor UAV is installed above the ball joint bearing; the fixed bracket provides support for the rotor UAV, and the ball joint bearing provides the UAV with three-axis motion freedom in pitch, yaw, and roll angles; The digital simulation deduction platform includes a simulation computer and a display and human-computer interaction device; the simulation computer performs bidirectional data transmission with the rotorcraft through a wireless serial port, and the simulation computer includes a parameter analysis and path optimization module, a simulation deduction module, an attitude solution module, a motion state solution module, a situation rendering module, a data storage and playback module, and a display and human-computer interaction interface; The display and human-computer interaction device is connected to the display and human-computer interaction interface of the simulation computer. The display and human-computer interaction device is used to set simulation parameters and rough track parameters, and sends the simulation parameters and rough track parameters to the parameter analysis and path optimization module through the display and human-computer interaction interface.

2. The hardware-in-the-loop rotary-wing UAV simulation system driven by a digital simulation engine according to claim 1 is characterized by: The onboard equipment of the rotary-wing UAV includes onboard sensors, a flight controller and an actuator; the onboard sensors include an inertial measurement unit (IMU) and an electronic compass, and the onboard sensors measure and collect the attitude information of the rotary-wing UAV and feed it back to the flight controller; the flight controller performs attitude estimation through an extended Kalman filter, and then calculates the control parameters of the rotary-wing UAV based on the expected attitude output by the attitude solution module, and then compiles the control parameters into electrical signals and outputs them to the actuator; the actuator includes an electronic speed regulator, a motor and a propeller; the electronic speed regulator adjusts the speed of multiple motors according to the electrical signals output by the flight controller, and each motor drives the propeller to control the attitude of the rotary-wing UAV; the flight controller outputs the actual attitude of the rotary-wing UAV to the motion state solution module.

3. The hardware-in-the-loop rotary-wing UAV simulation system driven by a digital simulation engine according to claim 1, characterized in that: The parameter parsing and path optimization module parses the input simulation parameters, and uses the Minimum Snap algorithm to refine and optimize the input rough track parameters, and then sends the parsed simulation parameters and the optimized expected motion path to the simulation deduction module.

4. The hardware-in-the-loop rotary-wing UAV simulation system driven by a digital simulation engine according to claim 1, characterized in that: The simulation deduction module simulates and deduces the motion path based on the historical simulated motion state and the current simulated motion state of the rotorcraft, compares and calculates the simulated motion path with the expected motion path, obtains the simulated motion state information of the rotorcraft, and outputs it to the attitude solution module; the simulated motion state information includes the expected speed, expected acceleration, simulated motion path and attitude.

5. The hardware-in-the-loop rotary-wing UAV simulation system driven by a digital simulation engine according to claim 1, characterized in that: The attitude calculation module calculates the expected attitude of the rotorcraft based on the simulated motion state information output by the simulation deduction module, and transmits the expected attitude to the flight controller of the rotorcraft via a wireless serial port; the expected attitude includes the expected pitch, yaw, roll angle and the corresponding angular acceleration.

6. The hardware-in-the-loop rotary-wing UAV simulation system driven by a digital simulation engine according to claim 1, characterized in that: The motion state calculation module receives the actual attitude output by the flight controller through the wireless serial port, calculates the simulated motion state of the rotorcraft according to the actual attitude, and outputs the current simulated motion state to the simulation deduction module; the actual attitude includes the actual pitch, yaw, roll angle and the corresponding angular acceleration.

7. The hardware-in-the-loop rotary-wing UAV simulation system driven by a digital simulation engine according to claim 1, characterized in that: The situation rendering module performs three-dimensional rendering, lighting model calculation and perspective transformation operations on the virtual scene according to the simulated motion path and posture of the rotor UAV obtained from the simulation deduction module, thereby realizing flight status visualization.

8. The hardware-in-the-loop rotary-wing UAV simulation system driven by a digital simulation engine according to claim 1, characterized in that: The data storage and playback module obtains the simulation process data of the simulated motion path and posture of the rotorcraft from the simulation deduction module for storage, and replays the stored simulation process data, and visualizes the replayed data through the situation rendering module for analysis of the simulation deduction process.

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