Environmental simulation system, unmanned aerial vehicle simulation flight test architecture and method

Abstract

The application provides an environment simulation system, which controls a lifting platform and a vector wind field simulation device arranged on a test bench through an environment control module, builds a flight test environment for a UAV to perform a simulation flight test task, and monitors displacement of the UAV in multiple directions in real time through a flight monitoring module to evaluate flight performance of the UAV, so that a flight test environment close to reality can be simulated, and simulation flight tests of the UAV can be efficiently and circularly performed in a limited fixed place; the application also provides a UAV simulation flight test architecture and method, which uses the environment simulation system, combines a flight simulation system and a flight task system, can support simulation flight tests of multiple types of UAVs, meets various flight test requirements of the UAVs, and effectively solves the technical problem that existing UAV flight test methods cannot consider flight test environment reality and flight test risks and costs.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an environmental simulation system, a UAV simulation flight test architecture, and a method. Background Technology

[0002] With the continuous development of information technology, drones, due to their small size, high flexibility, and low cost, are gradually being applied to various technical fields such as aerial photography, surveying and mapping, agricultural plant protection, and logistics transportation. Drones can be classified according to their flight mode into fixed-wing drones, rotary-wing drones, and tilt-rotor drones, capable of performing flight missions at ultra-low altitudes (0-100 meters), low altitudes (100-1000 meters), and high altitudes (7000-18000 meters). To ensure the flight performance and characteristics of drones, and to guarantee their operational effectiveness and efficiency, various types of flight tests are required during drone development, testing, and factory quality inspection. These tests include assessing battery life and charging efficiency, evaluating flight performance under different wind speeds, temperature, and humidity conditions, and verifying the drone's load capacity.

[0003] Existing UAV flight testing methods mainly include actual flight testing, actual bench testing, and simulation flight testing.

[0004] Among them, actual flight testing of drones refers to the method of conducting actual flight tests using real drones in specific outdoor flight sites. Because the flight test environment in this method is a real flight environment, all test data are real flight data, which has high reference value for evaluating the flight performance of drones. However, this method has the following drawbacks: ① High requirements for flight sites; outdoor sites require full consideration of site area and surrounding environmental safety factors, which is demanding, especially for large, heavy-duty drones. Furthermore, weather factors in outdoor flight tests can significantly affect test efficiency; ② Monotonous test environment; specific outdoor flight sites are generally fixed locations with relatively simple scene settings, and the uncertainty of outdoor weather and other factors can prevent some drone-specific tests from being conducted; ③ Poor test efficiency; outdoor flight tests require waiting for suitable testing time, and the need to equip batteries and chargers, with waiting for testing and charging reducing test efficiency; ④ High risk factor; outdoor sites may be open, and personnel, vehicles, and other uncontrollable factors in the site can lead to high risks in drone flight testing.

[0005] Real-world bench testing of drones refers to fixing the drone to a fixed bench or a movable support with a certain degree of freedom (such as a gimbal) to simulate the drone's in-flight power output and attitude changes. The advantages of this method are that it supports sustainable cyclic testing, high testing efficiency, and a fixed testing location that is easy to maintain. However, this method has the following drawbacks: ① Fixing the drone to a fixed, immovable support for simulated flight testing prevents the drone from freely controlling its attitude changes, resulting in poor simulation accuracy and limited data for evaluating the drone's flight performance; ② Although a gimbal bench allows the tested drone to have three degrees of freedom, the simulation accuracy is still far from that of actual flight testing.

[0006] Simulated flight testing refers to writing a special software version into the UAV's flight control system or avionics module to simulate UAV flight in a virtual environment. This method can significantly reduce the risks and costs of actual flight testing, but it mainly aims to verify flight path logic, software reliability, and bugs, and cannot effectively verify the actual flight performance of UAVs.

[0007] Therefore, existing UAV flight testing methods cannot simultaneously consider both the realism of the flight test environment (ensuring specific terrain, wind speed, temperature, and humidity conditions) and the risks and costs of flight testing, failing to achieve both cost-effectiveness and risk avoidance. In other words, existing UAV flight testing methods suffer from a technical problem that cannot adequately address both the realism of the flight test environment and the risks and costs associated with flight testing. Summary of the Invention

[0008] In view of the shortcomings of the prior art described above, the purpose of this application is to provide an environmental simulation system, a UAV simulation flight test architecture and method to solve the technical problem that existing UAV flight test methods cannot simultaneously take into account the realism of the flight test environment as well as the risks and costs of flight testing.

[0009] To achieve the above and other related objectives, the first aspect of this application provides an environmental simulation system for building a flight test environment for simulated flight testing of unmanned aerial vehicles (UAVs). The environmental simulation system includes: a test bench set in a closed flight test area, with a lifting platform at the center of the test bench and vector wind field simulation devices arranged around it; an environmental control module, which is communicatively connected to the lifting platform and the vector wind field simulation devices, for obtaining the environmental simulation conditions for the current UAV to perform simulated flight test tasks according to the UAV's flight test requirements, and controlling the lifting platform to rise and fall accordingly, and setting the simulation environment setting parameters of the vector wind field simulation devices to build a flight test environment for the UAV to perform simulated flight test tasks; and a flight monitoring module, which is communicatively connected to the environmental control module, for real-time monitoring of the UAV's actual altitude above the ground and displacement in multiple directions on the horizontal plane during simulated flight test tasks, generating multi-directional displacement data of the UAV and sending it to the environmental control module.

[0010] In some embodiments of the first aspect of this application, the environmental control module controls the lifting platform to rise and fall in the following ways: acquiring the ground altitude conditions in the environmental simulation conditions, and controlling the lifting platform to descend and ascend synchronously respectively when the UAV performs the take-off and landing sub-tasks of the simulated flight test mission, to ensure that the actual ground altitude of the UAV meets the ground altitude conditions; acquiring the terrain conditions in the environmental simulation conditions, and controlling the lifting platform to rise or fall according to the terrain conditions when the UAV performs the route flight sub-task of the simulated flight test mission, so as to simulate the flight test environment of the terrain conditions.

[0011] In some embodiments of the first aspect of this application, the vector wind field simulation device includes: multiple fan groups disposed around the test bench, each fan group including one or more fans; wherein the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the flight speed parameters and flight heading parameters of the UAV, and determining the first wind speed parameters and first wind direction parameters of the vector wind field simulation device accordingly; wherein the first wind speed parameters are the same as the flight speed parameters, and the first wind direction parameters are opposite to the flight heading parameters; acquiring the wind speed conditions and wind direction conditions in the environmental simulation conditions, and determining the second wind speed parameters and second wind direction parameters of the vector wind field simulation device accordingly; controlling one or more fans at corresponding positions to turn on according to the first wind direction parameters and the second wind direction parameters, and setting the wind speed parameters of each fan according to the first wind speed parameters and the second wind speed parameters, so as to simulate the flight test environment under the wind speed conditions and wind direction conditions, and to prevent the UAV from undergoing actual displacement when performing the simulated flight test task.

[0012] In some embodiments of the first aspect of this application, each fan is provided with a water spray device; wherein, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the rainfall conditions in the environmental simulation conditions, and controlling one or more water spray devices at the corresponding positions to turn on accordingly, and adjusting the outlet diameter of each water spray device to simulate the flight test environment under the rainfall conditions.

[0013] In some embodiments of the first aspect of this application, each fan is provided with a sand-blowing device; wherein, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the sand and dust conditions in the environmental simulation conditions, and controlling one or more sand-blowing devices at the corresponding positions to turn on, and adjusting the screen aperture of each sand-blowing device to simulate the flight test environment of the sand and dust conditions.

[0014] In some embodiments of the first aspect of this application, the vector wind field simulation device further includes: an air conditioning device disposed on the test bench; wherein the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the temperature conditions in the environmental simulation conditions, and controlling the air conditioning device to turn on accordingly, and adjusting the temperature control parameters of the air conditioning device to simulate the flight test environment under the temperature conditions.

[0015] In some embodiments of the first aspect of this application, the vector wind field simulation device further includes: a humidification device disposed on the test bench; wherein the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the humidity conditions in the environmental simulation conditions, and controlling the humidification device to turn on accordingly, and adjusting the humidity parameters of the humidification device to simulate the flight test environment under the humidity conditions.

[0016] In some embodiments of the first aspect of this application, the flight monitoring module includes: multiple laser distance sensors; each laser distance sensor is respectively disposed around the lifting platform and the test stand, and is used to measure the actual ground altitude and displacement in multiple directions on the horizontal plane when the UAV performs a simulated flight test task, so as to generate multi-directional displacement data of the UAV for analysis of the UAV's flight performance.

[0017] To achieve the above and other related objectives, a second aspect of this application provides a drone simulation flight test architecture, comprising: an environment simulation system as provided in any of the above embodiments, the environment simulation system being used to build a flight test environment for drone simulation flight testing and generate multi-directional displacement data of the drone; a flight simulation system, the flight simulation system being connected to the environment simulation system, being used to construct a drone simulation model of the drone and an environment simulation model of the flight test environment, and to simulate the flight state of the drone in the flight test environment through digital simulation technology, generating drone simulation flight data; and a flight mission system, the flight mission system being connected to both the environment simulation system and the flight simulation system, being used to acquire simulated flight parameters and simulated flight routes for drone simulation flight testing according to the drone's flight test requirements, and to generate simulated positioning signals based on the drone simulation flight data, thereby generating a drone simulation flight test mission and driving the drone to perform simulated flight testing in the closed flight test area of ​​the environment simulation system.

[0018] To achieve the above and other related objectives, a third aspect of this application provides a method for simulating flight testing of unmanned aerial vehicles (UAVs), applied to a UAV simulation flight testing architecture. The UAV simulation flight testing architecture includes: an environment simulation system, a flight simulation system, and a flight mission system provided in any of the above embodiments. The method includes: using the environment simulation system to build a flight test environment for UAV simulation flight testing and generating multi-directional displacement data of the UAV; using the flight simulation system to construct a UAV simulation model and an environment simulation model of the flight test environment, and using digital simulation technology to simulate the flight state of the UAV in the flight test environment, generating UAV simulation flight data; using the flight mission system to obtain the simulated flight parameters and simulated flight path of the current UAV simulation flight test according to the UAV's flight test requirements, and generating a simulated positioning signal based on the UAV simulation flight data to generate a UAV simulation flight test mission, driving the UAV to perform simulation flight testing in the closed flight test area of ​​the environment simulation system.

[0019] As described above, this application has the following beneficial effects: This application provides an environmental simulation system, which uses an environmental control module to control a lifting platform and a vector wind field simulation device set on a test bench to build a flight test environment for UAVs to perform simulated flight test tasks. A flight monitoring module monitors the displacement of the UAV in multiple directions in real time to evaluate the UAV's flight performance, thereby simulating a near-realistic flight test environment and supporting efficient cyclical simulated flight tests of UAVs in a limited fixed location. This application also provides a UAV simulated flight test architecture and method. Utilizing the aforementioned environmental simulation system, combined with a flight simulation system and a flight mission system, it can support various types of UAV simulated flight tests, meeting diverse flight test needs of UAVs, thereby effectively solving the technical problem that existing UAV flight test methods cannot simultaneously consider the realism of the flight test environment and the risks and costs of flight testing. Attached Figure Description

[0020] Figure 1 The diagram shown is a schematic representation of the structure of an environmental simulation system for unmanned aerial vehicle (UAV) flight simulation testing according to an embodiment of this application.

[0021] Figure 2 The diagram shown is a schematic representation of a test bench according to one embodiment of this application.

[0022] Figure 3 The diagram shown is a schematic representation of a lifting platform in one embodiment of this application.

[0023] Figure 4 The diagram shown is a structural schematic of a drone simulation flight test architecture according to an embodiment of this application.

[0024] Figure 5 The diagram shown is a flowchart of a drone simulation flight test method according to an embodiment of this application. Detailed Implementation

[0025] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. This application can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, unless otherwise specified, the following embodiments and features in the embodiments can be combined with each other.

[0026] To address the aforementioned issues, this application provides an environmental simulation system, a UAV simulation flight test architecture, and a method. The system aims to establish a flight test environment for UAVs to perform simulated flight test tasks by controlling a lifting platform and a vector wind field simulation device mounted on a test bench through an environmental control module. Furthermore, a flight monitoring module monitors the actual ground altitude and multi-directional horizontal displacement data of the UAV during the simulated flight test process in real time, providing data for evaluating the UAV's flight performance. This addresses the technical problem of existing UAV flight test methods failing to simultaneously ensure the realism of the flight test environment while mitigating flight test risks and costs.

[0027] To make the inventive objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application are further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application.

[0028] like Figure 1 The diagram shows a structural schematic of an environmental simulation system according to an embodiment of this application. The environmental simulation system in this embodiment is used to build a flight test environment for unmanned aerial vehicle (UAV) simulated flight testing, and includes: a test bench, an environmental control module, and a flight monitoring module.

[0029] The test bench is located in a closed flight test area. It should be understood that the closed flight test area refers to the spatial range that accommodates the UAV during the execution of simulated flight test tasks. Preferably, the closed flight test area should be no less than five times the size of the UAV. For example, if the UAV's dimensions are 3m × 3.5m × 0.8m, then its corresponding closed test area should be 15m × 17.5m × 4m.

[0030] It should be noted that the size of the enclosed flight test area can be determined by the user according to the flight test requirements of the UAV, and this application does not specifically limit it.

[0031] The test bench is used to simulate flight test environments and reproduce complex environmental conditions such as strong winds, rain, high temperatures, and sandstorms, thereby supporting UAVs to conduct simulated flight tests in indoor venues.

[0032] like Figure 2 As shown, a lifting platform is located at the center of the test bench. The lifting platform supports the UAV in its landing state and can be raised and lowered. The area above the lifting platform is the central area for the UAV to perform simulated flight test tasks. In a preferred embodiment, the size of the lifting platform is at least twice the size of the UAV, thereby reserving a certain range of flight activity for the UAV to perform simulated flight test tasks and adjusting the actual position offset of the UAV.

[0033] like Figure 1 As shown, the environmental control module is communicatively connected to the lifting platform. Based on the UAV's flight test requirements, the environmental control module obtains the environmental simulation conditions for the current UAV to perform simulated flight test tasks, and accordingly controls the lifting platform to raise and lower to establish the flight test environment for the UAV to perform simulated flight test tasks.

[0034] In one embodiment, the environmental control module controls the lifting platform to rise and fall in the following ways.

[0035] ① Obtain the ground altitude conditions in the environmental simulation conditions, and when the UAV performs the take-off and landing sub-tasks of the simulated flight test mission, control the lifting platform to descend and ascend synchronously respectively to ensure that the actual ground altitude of the UAV meets the ground altitude conditions.

[0036] It should be noted that when performing simulated flight test missions, the UAV needs to complete takeoff sub-missions, flight path sub-missions, and landing sub-missions. Specifically, during the takeoff sub-mission, the power output lifts off the ground, and the environmental control module controls the elevator platform to descend synchronously until the UAV reaches the target flight altitude, i.e., the UAV's actual flight altitude meets the ground altitude condition. During the landing sub-mission, the environmental control module controls the elevator platform to ascend synchronously until the UAV lands on the elevator platform. Therefore, in this embodiment, this application uses the elevator platform to simulate the ground effect wind field of the flight test environment, thereby evaluating the UAV's lift, drag, and handling performance during simulated flight tests.

[0037] In one specific embodiment, when controlling the lifting platform, the environmental control module can control the descent and ascent speeds of the lifting platform according to the simulated flight parameters of the UAV, such as rate of ascent and descent speed. The simulated flight parameters of the UAV can be obtained according to the flight test requirements of the UAV, or can be obtained from UAV simulated flight data generated by an external flight simulation system.

[0038] ② Obtain the terrain conditions in the environmental simulation conditions, and when the UAV performs the flight route sub-task of the simulated flight test mission, control the elevator platform to rise or fall according to the terrain conditions to simulate the flight test environment of the terrain conditions.

[0039] When the UAV performs the flight route sub-task of the simulated flight test mission, the lifting platform can also simulate the terrain conditions in the environmental simulation conditions by lifting and lowering, so that the environmental simulation system described in this application can reproduce a variety of terrain conditions, including flat terrain without obstacles, mountainous terrain with elevation differences, and urban building complex terrain, etc. The constructed flight test environment can support a variety of types of simulated flight tests and meet the flight test requirements of UAVs.

[0040] like Figure 2 As shown, a vector wind field simulation device is installed around the test bench. This device is used to simulate vector wind fields. It should be understood that a vector wind field is an air motion field described by wind direction and speed, primarily designed based on wind tunnel principles. Wind tunnel principles are based on the principles of relativity and similarity, simulating the gas flow state of a drone in a real environment by artificially generating and controlling airflow. The vector wind field simulation device generates high-speed airflow through fans, compressors, or high-pressure air sources to form a vector wind field. It collects pressure, temperature, and aerodynamic data within the vector wind field using sensors to adjust the settings of the fans, compressors, or high-pressure air sources, controlling the direction and speed of the airflow.

[0041] The vector wind field simulation device can reproduce various environmental conditions indoors, and is unaffected by weather factors. Compared with the actual flight test method that requires an outdoor site, it has the advantages of high safety and low cost. Moreover, it can simulate the real flight environment to a large extent, support various types of simulated flight tests, and meet the flight test requirements of UAVs, such as testing the wind resistance performance of UAVs, analyzing the aerodynamic characteristics of specific business scenarios, and analyzing the pendulum effect in strong wind environments.

[0042] like Figure 1 As shown, the environmental control module is also communicatively connected to the vector wind field simulation device. Based on the UAV's flight test requirements, the environmental control module obtains the environmental simulation conditions for the current UAV to perform simulated flight test tasks, and accordingly sets the simulation environment setting parameters of the vector wind field simulation device to build a flight test environment for the UAV to perform simulated flight test tasks.

[0043] The environmental simulation conditions are determined according to the flight test requirements of the UAV, and include all environmental requirements for the flight test environment required for the UAV to perform simulated flight test tasks, including at least one or more combinations of terrain conditions, wind speed conditions, wind direction conditions, rainfall conditions, dust conditions, temperature conditions, and humidity conditions.

[0044] In one embodiment, such as Figure 2As shown, the vector wind field simulation device includes multiple fan groups arranged around the test bench, each fan group including one or more fans. Specifically, multiple fans form a fan group and are placed in a ring to form a ring fan matrix, which is used to simulate a corresponding vector wind field and generate airflow with a specified direction and speed to meet the flight requirements of the UAV in any heading.

[0045] In this embodiment, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device through the following steps.

[0046] ① Obtain the flight speed and flight heading parameters of the UAV, and determine the first wind speed and first wind direction parameters of the vector wind field simulation device accordingly.

[0047] The flight speed and heading parameters of the UAV can be obtained according to the flight test requirements of the UAV.

[0048] When the UAV performs the flight path sub-task of a simulated flight test mission, it exhibits three types of motion: pitch, roll, and yaw. The vector wind field simulation device generates a vector wind field with corresponding direction and velocity based on the UAV's flight speed and heading parameters. This wind field balances the displacement generated during the UAV's motion, preventing actual displacement during flight and thus supporting simulated flight testing within a limited, enclosed indoor test area. Therefore, the first wind speed parameter is the same as the flight speed parameter, and the first wind direction parameter is opposite to the flight heading parameter.

[0049] For example, based on the flight test requirements of the UAV, if the UAV is set to fly forward in a straight line at a speed of 10 m / s, then the flight speed parameter of the UAV is 10 m / s, and the flight heading parameter is forward. Therefore, the first wind speed parameter of the vector wind field simulation device is 10 m / s, and the first wind direction parameter is backward, thereby generating a vector wind field in the opposite direction. This can simulate the forward flight motion and attitude changes of the UAV, while ensuring that the UAV does not undergo actual displacement, thus ensuring that the UAV always operates in the designed central area.

[0050] ② Obtain the wind speed and wind direction conditions in the environmental simulation conditions, and determine the second wind speed parameters and second wind direction parameters of the vector wind field simulation device accordingly.

[0051] The vector wind field simulation device can also reproduce strong wind conditions and simulate strong wind weather in real flight environments by adjusting its wind speed and wind direction parameters. At the same time, by adding the spatiotemporal variation factors of wind speed and wind direction parameters, the vector wind field simulation device can simulate uniform wind fields, turbulent wind fields, etc., so that the flight test environment built is closer to the real flight environment of UAVs, supports various types of simulated flight tests, and meets the diverse flight test needs of UAVs.

[0052] ③ Based on the first wind direction parameter and the second wind direction parameter, control one or more fans at the corresponding positions to turn on, and set the wind speed parameters of each fan based on the first wind speed parameter and the second wind speed parameter, so as to simulate the flight test environment under the wind speed and wind direction conditions, and ensure that the UAV does not undergo actual displacement when performing the simulated flight test task.

[0053] Before the UAV begins simulated flight testing, the environmental control module can set the simulation environment parameters of the vector wind field simulation device to establish an initial flight test environment, supporting the UAV in performing simulated flight test tasks. In one embodiment, if the UAV deviates too far from the set simulated flight path and its activity range exceeds the central area, the environmental control module can adjust the wind speed and direction parameters of the vector wind field simulation device, prompting the UAV to return to the central area and the original simulated flight path to continue performing the simulated flight test.

[0054] Specifically, one way the environmental control module adjusts the wind speed and wind direction parameters of the vector wind field simulation device includes: the environmental control module determines the adjustment wind direction and adjustment wind speed parameters of the vector wind field simulation device based on the yaw angle and deviation displacement of the UAV, so as to adjust one or more fans that are turned on and adjust the wind speed parameters of each fan.

[0055] In another embodiment, the test bench includes a ring-shaped support that can rotate around the lifting platform, with each fan evenly distributed on the ring-shaped support. Another method by which the environmental control module adjusts the wind speed and direction parameters of the vector wind field simulation device includes: the environmental control module controlling the rotation of the ring-shaped support based on the yaw angle of the UAV to adjust the wind direction parameter of the vector wind field simulation device; and the environmental control module adjusting the wind speed parameters of each activated fan based on the deviation displacement of the UAV to adjust the wind speed parameter of the vector wind field simulation device.

[0056] In one embodiment, each fan is equipped with a water spray device. It should be noted that the user can select the water spray device according to their needs, and this application does not specifically limit it.

[0057] In this embodiment, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the rainfall conditions in the environmental simulation conditions, and controlling one or more water spray devices at the corresponding positions to turn on, and adjusting the outlet diameter of each water spray device to simulate the flight test environment under the rainfall conditions. This allows the environmental simulation system of this application to simulate the rainfall environment in conjunction with the airflow in the vector wind field simulation device, simulate the real flight environment of the UAV with raindrops hitting the wind, and support the UAV to conduct simulated flight tests in the rainfall environment.

[0058] In one embodiment, each fan is equipped with a sand-spraying device. It should be noted that the sand-spraying device can be selected by the user according to their needs, and this application does not specifically limit it.

[0059] In this embodiment, the method by which the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device includes: acquiring the dust conditions in the environmental simulation conditions, and controlling one or more sand-blowing devices at the corresponding positions to open accordingly, and adjusting the screen aperture of each sand-blowing device to simulate the flight test environment under the dust conditions, so that the environmental simulation system of this application can combine the airflow in the vector wind field simulation device to simulate the dust environment and support the UAV to conduct simulated flight tests in the dust environment.

[0060] In one embodiment, the vector wind field simulation device further includes an air conditioning unit mounted on the test bench. It should be noted that the air conditioning unit can be selected by the user according to their needs, and this application does not specifically limit its use.

[0061] In this embodiment, the method by which the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device includes: obtaining the temperature conditions in the environmental simulation conditions, and controlling the air conditioning device to turn on accordingly, and adjusting the temperature control parameters of the air conditioning device to simulate the flight test environment under the temperature conditions, so that the environmental simulation system of this application can simulate high temperature environment or low temperature environment, and support UAV to conduct simulated flight tests in high temperature environment or low temperature environment.

[0062] In one embodiment, the vector wind field simulation device further includes a humidification device disposed on the test bench. It should be noted that the humidification device can be selected by the user according to their needs, and this application is not specifically limited to it.

[0063] In this embodiment, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the humidity conditions in the environmental simulation conditions, and controlling the humidification device to turn on accordingly, and adjusting the humidity parameters of the humidification device to simulate the flight test environment under the humidity conditions, so that the environmental simulation system of this application can simulate high humidity environment or low humidity environment, and support UAV to conduct simulated flight tests in high humidity environment or low humidity environment.

[0064] The flight monitoring module is used to monitor the actual altitude above the ground and the displacement in multiple directions on the horizontal plane of the UAV when it performs simulated flight test tasks in real time, generate multi-directional displacement data of the UAV and send it to the environmental control module.

[0065] In one embodiment, the flight monitoring module includes: multiple laser distance sensors. For example... Figure 2 as well as Figure 3 As shown, each laser distance sensor is respectively set around the lifting platform and the test stand, and is used to measure the actual ground altitude and displacement in multiple directions on the horizontal plane when the UAV performs simulated flight test tasks, so as to generate multi-directional displacement data of the UAV for analysis of the UAV's flight performance.

[0066] Specifically, such as Figure 2 As shown, multiple laser distance sensors are installed around the test bench to measure the displacement of the UAV in multiple directions on the horizontal plane during simulated flight test missions, generating horizontal displacement data. Figure 3 As shown, a laser distance sensor is installed on the lifting platform to measure the vertical displacement of the UAV during simulated flight test missions, i.e., the actual altitude of the UAV above the ground, and generate vertical displacement data. Based on the horizontal and vertical displacement data, multi-directional displacement data of the UAV is generated.

[0067] It should be understood that a laser distance sensor is a high-precision device that achieves non-contact distance measurement based on laser technology. Its core principle is to calculate the distance by measuring the time or phase difference of the laser pulse to and from the target. It has the characteristics of strong directionality, high precision, and fast response.

[0068] It should be noted that users may also choose other ranging sensors according to their needs, such as ultrasonic ranging sensors, infrared ranging sensors or photoelectric ranging sensors, etc., and this application does not specifically limit them.

[0069] The flight monitoring module generates multi-directional displacement data through various laser distance sensors. This multi-directional displacement data can be used to calculate the actual flight parameters of the UAV, including the UAV's actual altitude above the ground, rate of climb, descent speed, flight heading, yaw angle, and deviation displacement, thereby analyzing the UAV's flight performance.

[0070] For example, a laser distance sensor installed on the lifting platform can detect the actual ground altitude of the UAV (i.e., the lifting platform). This can be used to determine whether the altitude hold control of the UAV's ground-following radar and the altitude control of the barometer meet the UAV's flight control design requirements, thereby allowing for adjustments to the UAV's flight control functions and improving its flight performance. Simultaneously, in one embodiment, the environmental control module can adjust the actual lifting height and speed of the lifting platform based on the UAV's actual ground altitude to meet the ground altitude and terrain conditions in the environmental simulation conditions during the UAV's simulated flight test mission.

[0071] Multiple laser distance sensors positioned around the test bench can detect the drone's displacement in multiple horizontal directions, thereby determining whether the drone has deviated from the set simulated flight path and identifying its yaw angle and displacement. This information is then used to determine whether the drone's deviation from the simulated flight path is expected, and whether the deviation is due to the drone's flight control logic or flight performance issues, based on the drone's multi-directional displacement data and the simulated flight test tasks generated by external flight simulation systems. In one embodiment, the environmental control module can also determine whether the drone has deviated from the set simulated flight path and whether its activity range is excessive based on the multi-directional displacement data. This allows it to adjust the simulation environment settings of the vector wind field simulation device, particularly wind speed and direction parameters, to encourage the drone to return to the central area and its original simulated flight path, continuing the simulated flight test.

[0072] The environmental simulation system described in this application enables efficient and cyclical simulated flight testing of UAVs within a limited fixed location. Compared to existing actual flight testing methods, it is more efficient, eliminating the need to find specific outdoor sites or wait for suitable test times and environmental conditions. The enclosed flight test area is also safer. Furthermore, compared to actual bench testing methods, it more closely resembles the real flight environment, including simulated terrain, wind fields and airflow, rainfall, dust storms, high or low temperature environments, and high or wet ground environments. It can support various types of simulated flight tests, such as testing the wind resistance of UAVs, analyzing the aerodynamic characteristics of specific business scenarios, and analyzing the pendulum effect in high wind environments, thus meeting the diverse flight testing needs of UAVs.

[0073] like Figure 4 The diagram illustrates a schematic representation of a drone simulation flight test architecture according to an embodiment of this application. The drone simulation flight test architecture in this embodiment includes: the environment simulation system, flight simulation system, and flight mission system described in any of the above embodiments. Wherein, as... Figure 4 As shown, the flight simulation system is connected to the environmental simulation system, and the flight mission system is connected to both the environmental simulation system and the flight simulation system.

[0074] The environmental simulation system is used to build a flight test environment for UAV simulated flight testing and generate multi-directional displacement data of the UAV. The multi-directional displacement data of the UAV includes at least: the actual ground altitude of the UAV during the simulated flight test mission and its displacement in multiple directions on the horizontal plane.

[0075] The flight simulation system is used to construct a drone simulation model and an environmental simulation model of the flight test environment, and to simulate the flight state of the drone in the flight test environment through digital simulation technology, thereby generating drone simulation flight data.

[0076] It should be noted that the flight simulation system can be implemented using existing technologies. Specifically, it utilizes a high-performance computer combined with software programs to construct a high-precision three-dimensional scene based on lidar or satellite data, and simulates the aircraft's response through an aerodynamic model. For the sake of brevity, this application will not elaborate further.

[0077] The flight mission system is used to acquire the simulated flight parameters and simulated flight routes of the UAV for simulated flight testing according to the flight test requirements of the UAV, and generate simulated positioning signals based on the simulated flight data of the UAV to generate the simulated flight test mission of the UAV, and drive the UAV to conduct simulated flight tests in the closed flight test area of ​​the environmental simulation system.

[0078] It should be noted that during the simulated flight test mission, the UAV does not undergo actual displacement, but it can fly along a flight path based on the simulated positioning signal generated by the flight mission system. Therefore, the UAV simulated flight test architecture described in this application integrates actual flight testing, actual bench testing, and simulated flight testing, enabling efficient and cyclical simulated flight testing of UAVs within a limited fixed location with low risk and cost. Simultaneously, it can simulate a more realistic flight test environment, possessing the aerodynamic characteristics of actual flight testing, and thus has high reference value for evaluating the flight performance of UAVs. Therefore, it solves the technical problem of existing UAV flight testing methods that cannot simultaneously consider the realism of the flight test environment, as well as the risks and costs of flight testing.

[0079] It should be understood that the UAV simulation flight test architecture described above is based on the same concept as the environment simulation system provided in the above embodiments, and will not be described again here for the sake of brevity.

[0080] It should also be understood that the system and module divisions in the embodiments of this application are illustrative and represent only a logical functional division; in actual implementation, there may be other division methods. Furthermore, the system functions and functional modules in the various embodiments of this application can be integrated into a single processor, exist as separate physical entities, or have two or more systems or functions integrated into a single system or functional module. The integrated systems or modules described above can be implemented in hardware or software.

[0081] like Figure 5 The diagram illustrates a flowchart of a drone simulation flight testing method according to an embodiment of this application. The drone simulation flight testing method is applied to the drone simulation flight testing architecture provided in the above-described architecture embodiment. The drone simulation flight testing method includes steps S1 to S3.

[0082] Step S1: Using the environmental simulation system, build a flight test environment for UAV simulation flight testing and generate multi-directional displacement data of the UAV.

[0083] The multi-directional displacement data of the UAV includes at least: the actual ground altitude of the UAV when performing simulated flight test missions and its displacement in multiple directions on the horizontal plane.

[0084] Step S2: Using the flight simulation system, construct a drone simulation model and an environmental simulation model of the flight test environment, and use digital simulation technology to simulate the flight state of the drone in the flight test environment to generate drone simulation flight data.

[0085] Step S3: Through the flight mission system, based on the flight test requirements of the UAV, the simulated flight parameters and simulated flight route of the current UAV simulated flight test are obtained, and based on the UAV simulated flight data, a simulated positioning signal is generated to generate the UAV simulated flight test mission, driving the UAV to conduct simulated flight test in the closed flight test area of ​​the environmental simulation system.

[0086] It should be understood that the UAV simulation flight test method described above is based on the same concept as the environmental simulation system provided in the above embodiments, and will not be described again here for the sake of brevity.

[0087] The environmental simulation system, UAV simulation flight test architecture, and UAV simulation flight test method provided in this application embodiment can be implemented on the terminal side or server side, or completed through computer program-related hardware.

[0088] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0089] In summary, this application provides an environmental simulation system that uses an environmental control module to control a lifting platform and a vector wind field simulation device mounted on a test bench to build a flight test environment for UAVs to perform simulated flight test tasks. A flight monitoring module monitors the UAV's displacement in multiple directions in real time to evaluate its flight performance, thereby simulating a near-realistic flight test environment and supporting efficient, cyclical simulated flight tests of UAVs within a limited, fixed location. This application also provides a UAV simulated flight test architecture and method. Utilizing the aforementioned environmental simulation system, combined with a flight simulation system and a flight mission system, it can support various types of UAV simulated flight tests, meeting diverse flight test needs of UAVs. This effectively solves the technical problem of existing UAV flight test methods failing to simultaneously address the realism of the flight test environment and the risks and costs of flight testing.

[0090] Therefore, this application effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0091] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this application should still be covered by the claims of this application.

Claims

1. An environmental simulation system for building a flight test environment for simulated flight testing of unmanned aerial vehicles (UAVs), characterized in that, include: A test bench is set up in a closed flight test area. A lifting platform is set at the center of the test bench, and a vector wind field simulation device is set around it. The vector wind field simulation device includes multiple fan groups set around the test bench, and each fan group includes one or more fans. An environmental control module is communicatively connected to the lifting platform and the vector wind field simulation device. It is used to obtain the environmental simulation conditions for the UAV to perform the simulated flight test task according to the flight test requirements of the UAV, and control the lifting platform to rise and fall accordingly. It also sets the simulation environment setting parameters of the vector wind field simulation device to build a flight test environment for the UAV to perform the simulated flight test task. The flight monitoring module is communicatively connected to the environmental control module and is used to monitor the actual ground altitude and displacement in multiple directions on the horizontal plane of the UAV when performing simulated flight test tasks in real time, generate multi-directional displacement data of the UAV and send it to the environmental control module. The environmental control module controls the lifting platform's ascent and descent in the following ways: acquiring the ground altitude conditions from the environmental simulation conditions, and controlling the lifting platform to descend and ascend synchronously during the takeoff and landing sub-tasks of the simulated flight test mission, respectively, to ensure that the actual ground altitude of the UAV meets the ground altitude conditions; acquiring the terrain conditions from the environmental simulation conditions, and controlling the lifting platform to ascend or descend according to the terrain conditions during the flight route sub-task of the simulated flight test mission, to simulate the flight test environment under those terrain conditions; The environmental control module sets the simulation environment parameters of the vector wind field simulation device by: acquiring the flight speed and heading parameters of the UAV, and determining the first wind speed and first wind direction parameters of the vector wind field simulation device accordingly; wherein the first wind speed parameter is the same as the flight speed parameter, and the first wind direction parameter is opposite to the flight heading parameter; acquiring the wind speed and wind direction conditions in the environmental simulation conditions, and determining the second wind speed and second wind direction parameters of the vector wind field simulation device accordingly; controlling one or more fans at corresponding positions to turn on according to the first wind direction and second wind direction parameters, and setting the wind speed parameters of each fan according to the first wind speed and second wind speed parameters to simulate the flight test environment under the wind speed and wind direction conditions, and ensuring that the UAV does not undergo actual displacement when performing the simulated flight test task.

2. The environmental simulation system according to claim 1, characterized in that, Each fan is equipped with a water spray device; wherein, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the rainfall conditions in the environmental simulation conditions, and controlling one or more water spray devices at the corresponding positions to turn on, and adjusting the outlet diameter of each water spray device to simulate the flight test environment under the rainfall conditions.

3. The environmental simulation system according to claim 1, characterized in that, Each fan is equipped with a sand-blowing device; wherein, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the sand and dust conditions in the environmental simulation conditions, and controlling one or more sand-blowing devices at the corresponding positions to turn on, and adjusting the screen aperture of each sand-blowing device to simulate the flight test environment under the sand and dust conditions.

4. The environmental simulation system according to claim 1, characterized in that, The vector wind field simulation device further includes an air conditioning unit installed on the test bench; wherein, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the temperature conditions in the environmental simulation conditions, and controlling the air conditioning unit to turn on accordingly, and adjusting the temperature control parameters of the air conditioning unit to simulate the flight test environment under the temperature conditions.

5. The environmental simulation system according to claim 1, characterized in that, The vector wind field simulation device further includes a humidification device installed on the test bench; wherein, the environmental control module sets the simulation environment setting parameters of the vector wind field simulation device by: acquiring the humidity conditions in the environmental simulation conditions, and controlling the humidification device to turn on accordingly, and adjusting the humidity parameters of the humidification device to simulate the flight test environment under the humidity conditions.

6. The environmental simulation system according to claim 1, characterized in that, The flight monitoring module includes multiple laser distance sensors. Each laser distance sensor is respectively set around the lifting platform and the test stand, and is used to measure the actual ground altitude and displacement in multiple directions on the horizontal plane when the UAV performs a simulated flight test mission, so as to generate multi-directional displacement data of the UAV for analysis of the UAV's flight performance.

7. A drone simulation flight test architecture, characterized in that, include: The environmental simulation system as described in any one of claims 1 to 6 is used to build a flight test environment for UAV simulated flight testing and generate multi-directional displacement data of the UAV. A flight simulation system, connected to the environmental simulation system, is used to construct a UAV simulation model and an environmental simulation model of the flight test environment, and to simulate the flight state of the UAV in the flight test environment through digital simulation technology to generate UAV simulated flight data. The flight mission system is connected to both the environment simulation system and the flight simulation system. It is used to acquire the simulated flight parameters and simulated flight routes of the UAV for the simulated flight test according to the flight test requirements of the UAV, and generate simulated positioning signals based on the simulated flight data of the UAV to generate the simulated flight test mission of the UAV, and drive the UAV to conduct simulated flight test in the closed flight test area of ​​the environment simulation system.

8. A method for simulating flight testing of unmanned aerial vehicles (UAVs), characterized in that, An application is made to a drone simulation flight test architecture, the drone simulation flight test architecture comprising: an environment simulation system, a flight simulation system, and a flight mission system as described in any one of claims 1 to 6, the method comprising: The environmental simulation system is used to build a flight test environment for UAV simulation flight testing and generate multi-directional displacement data of the UAV. The flight simulation system is used to construct a drone simulation model and an environmental simulation model of the flight test environment, and to simulate the flight state of the drone in the flight test environment using digital simulation technology, thereby generating drone simulation flight data. The flight mission system acquires the simulated flight parameters and flight path of the UAV for the current simulated flight test according to the flight test requirements of the UAV, and generates a simulated positioning signal based on the simulated flight data of the UAV to generate the simulated flight test mission of the UAV, driving the UAV to conduct simulated flight test in the closed flight test area of ​​the environmental simulation system.

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