基于逻辑分离的无人机仿真系统设计

Design of UAV Simulation System Based on Logic Separation

针对在无人机仿真系统开发过程中的结构复杂问题,以及时间、经济成本等问题,提出一种ROS环境下基于逻辑分离思想的体系结构,并设计了一款基于PX4开源固件的交互式工具包应用到仿真系统。首先,根据逻辑分离思想进行系统整体设计;其次,在单机和多机的条件下进行仿真并验证;最后对仿真进行分析,结果表明该系统可实现表示层、业务层、控制层逻辑分离的无人机仿真测试,体现出系统设计的正确性与可用性。由于逻辑分离思想的应用,使得系统各部分职能明确,具有更高的开放性和可控性。

Aiming at the complex structural problems in the development process of UAV simulation system, as well as the time and economic cost, we propose an architecture based on logical separation in ROS environment.A toolkit based on PX4 open source firmware was designed and applied to the simulation system.First, the system was designed according to the logic separation thought;Secondly, the simulation experiment was carried out under the conditions of single machine and multi-machine;Finally, the simulation data were analyzed.The results show that the integrated system can realize the UAV simulation test of the separation of the presentation layer, the business layer and the control layer, which shows the correctness and usability of the system design.Due to the application of the logic separation idea, the functions of each part of the system are clear, with higher openness and controllability.