摘要
本文设计并实现了一种小型无人机飞行控制仿真系统,规划了合理的系统架构,由在环程序、飞行动力学模型、地面站程序及三维可视化显示等部分共同构成仿真系统。针对实际问题,提出了飞行姿态的三维直观显示、动力学仿真模拟的方法,结合硬件在环和软件在环等两种方式建立了数据链路,构建了三维飞行器模型并导入仿真系统。仿真与实际飞行数据表明,所构建的仿真系统能够很好地满足小型无人机姿态控制和飞行仿真,实现了较高的精度和良好的实时性。
This paper designed and implemented a small fly-control simulation system. The fundamental parts of the system contained in-loop program,flight dynamics model and 3-D visual display. Aiming at real problems,we proposed some methods for 3-D display of flight-posture and dynamics simulation,built data links with such ways as hardware-inloop and software-in-loop,and built the 3-D air vehicle model which was embedded into the simulation system.According to the simulation and real flight data,the proposed simulation system could meet the requirement of attitude control and flight simulation of small UAV with high accuracy and good real-time performance.
出处
《实验室研究与探索》
CAS
北大核心
2015年第1期73-78,83,共7页
Research and Exploration In Laboratory
基金
国家自然科学基金资助项目(61273078)
中国博士后科研基金(2012M511164)
教育部高校基础科研业务费项目(N130404023)
关键词
无人机
飞行控制
仿真系统
三维姿态
数据链路
在环程序
unmanned aerial vehicle
flight control
simulation system
3-D posture
data link
in-loop program
